Vehicle prompting method, vehicle prompting device, vehicle and storage medium

Abstract

The invention provides a vehicle prompting method, a vehicle prompting device, a vehicle and a storage medium, and the vehicle prompting method comprises the steps: obtaining the vehicle size information of the vehicle and the reference information of a candidate parking space if the vehicle is detected to be in an automatic parking state; based on the vehicle size information and the reference information of the candidate parking spaces, the parking success rate that the vehicle is automatically parked into each candidate parking space is predicted; outputting prompt information; wherein the prompt information comprises the parking success rate. According to the method, the parking success rate of automatic parking can be determined, so that a user can accurately determine the expectation of automatic parking, and the user experience is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and more particularly, to a vehicle prompting method, a vehicle prompting device, a vehicle, and a storage medium. Background Art

[0002] With the popularization of automobiles, more and more users use vehicles as essential tools for travel. Parking difficulty has become a common driving problem, and users' requirements for intelligent parking systems in vehicles have gradually increased.

[0003] In related technologies, there is a clear automatic parking trigger button in the vehicle. However, due to the differences in the environments and positions of parking spaces, when the user triggers the automatic parking torque, not all vehicles can park in the parking space. In the case where the vehicle fails to automatically park into the parking space, the driver needs to manually intervene, which reduces the user experience. Therefore, how to determine the parking success rate of automatic parking so that users can accurately determine their expectations for automatic parking, and then improve the user experience has become an urgent problem to be solved. Summary of the Invention

[0004] The present application provides a vehicle prompting method, a vehicle prompting device, a vehicle, and a storage medium. The method can determine the parking success rate of automatic parking so that users can accurately determine their expectations for automatic parking, and then improve the user experience.

[0005] In a first aspect, a vehicle prompting method is provided. The method includes:

[0006] If it is detected that the vehicle is in an automatic parking state, obtain the vehicle size information of the vehicle and the reference information of the candidate parking spaces;

[0007] Based on the vehicle size information and the reference information of the candidate parking spaces, predict the parking success rate of the vehicle automatically parking into each candidate parking space;

[0008] Output a prompt message; wherein, the prompt message includes the parking success rate.

[0009] In the above technical solution, when the vehicle is in an automatic parking state, based on the vehicle size information and the reference information of the candidate parking spaces, predict the parking success rate of the vehicle automatically parking into each candidate parking space, and output the parking success rate of each candidate parking space. Compared with the prior art of directly controlling the vehicle to perform automatic parking, by outputting the parking success rate of each candidate parking space, the present application enables users to reduce their expectations for the automatic parking result according to the parking success rate, reduce the negative emotions brought by the driver's manual intervention during parking due to a relatively high parking success rate, and thus improve the user experience.

[0010] In combination with the first aspect, in some possible implementation manners, the reference information of the candidate parking spaces includes at least one of the following information: the parking space size information of each candidate parking space, the target angle between each candidate parking space and the vehicle, the target distance between each candidate parking space and an obstacle, and the road surface width where the vehicle is located.

[0011] In the above technical solution, by determining the parking success rate of the vehicle automatically parking into each candidate parking space based on the vehicle size information, the parking space size information, the target angle, the target distance, and the road surface width; and by predicting the parking success rate corresponding to each candidate parking space through the multi-dimensional reference data of each candidate parking space and the vehicle size information, the accuracy of the parking success rate corresponding to each candidate parking space can be ensured.

[0012] In combination with the first aspect and the above implementation manners, in some possible implementation manners, if the reference information of the candidate parking spaces includes the parking space size information of each candidate parking space, the target angle between each candidate parking space and the vehicle, the target distance between each candidate parking space and an obstacle, and the road surface width where the vehicle is located;

[0013] Predicting the parking success rate of the vehicle automatically parking into each candidate parking space based on the vehicle size information and the reference information of the candidate parking spaces includes:

[0014] Determining a first success rate corresponding to the target parking space based on the vehicle size information and the parking space size information of the target parking space; wherein the target parking space is used to indicate any one of the candidate parking spaces;

[0015] Determining a second success rate corresponding to the target parking space based on the target angle corresponding to the target parking space; wherein the second success rate is negatively correlated with the target angle;

[0016] Determining a third success rate corresponding to the target parking space based on the target distance corresponding to the target parking space;

[0017] Determining a fourth success rate corresponding to the target parking space based on the vehicle width and the road surface width;

[0018] Determining the parking success rate corresponding to the target parking space based on the first success rate, the second success rate, the third success rate, and the fourth success rate.

[0019] Based on the vehicle size information and the parking space size information of the target parking space, determine the first success rate corresponding to the target parking space; based on the target angle corresponding to the target parking space, determine the second success rate corresponding to the target parking space; based on the target distance corresponding to the target parking space, determine the third success rate corresponding to the target parking space; based on the vehicle width and the road surface width, determine the fourth success rate corresponding to the target parking space; determine the corresponding success rate through the multi-dimensional reference information of the target parking space, and on this basis, determine the parking success rate corresponding to the target parking space through the first success rate, the second success rate, the third success rate, and the fourth success rate, which can ensure the accuracy of the parking success rate.

[0020] Combined with the first aspect and the above implementation, in some possible implementations, the predicting the parking success rate of the vehicle automatically parking into each candidate parking space based on the vehicle size information and the reference information of the candidate parking space includes:

[0021] Input the vehicle size information and the reference information of the reference parking space into the success rate prediction model, and predict the parking success rate of each candidate parking space;

[0022] Wherein, the success rate prediction model is a model trained with sample data.

[0023] The above technical solution inputs the vehicle size information and the reference information of the reference parking space into the success rate prediction model, and predicts the parking success rate of each candidate parking space; by pre-training the success rate prediction model, while improving the accuracy of the parking success rate predicted by the success rate prediction model, the efficiency of data prediction is improved.

[0024] Combined with the first aspect and the above implementation, in some possible implementations, before outputting the prompt information, the method further includes:

[0025] Determine whether the parking success rate of each candidate parking space is less than a preset success rate;

[0026] The outputting the prompt information includes:

[0027] If the parking success rate of each candidate parking space is less than the preset success rate, output the parking success rate of each candidate parking space and an inquiry instruction; wherein, the inquiry instruction is used to inquire whether the user continues to park;

[0028] If the feedback instruction of the user is detected, determine whether the feedback instruction indicates to continue parking;

[0029] If the feedback instruction indicates to continue parking, control the vehicle to automatically park into the first parking space; wherein, the first parking space is used to indicate any one of the candidate parking spaces.

[0030] In the above technical solution, when the parking success rate of each candidate parking space is less than the preset success rate, the parking success rate of each candidate parking space and an inquiry instruction are output, and the inquiry instruction is used to inquire whether the user continues to park; when a feedback instruction of the user is detected and the feedback instruction indicates to continue parking, the vehicle is controlled to automatically park into the first parking space; when the parking success rate of each candidate parking space is low, by outputting a prompt message and an inquiry instruction, the user can predict the automatic parking process and the automatic parking result, so as to reduce the dissatisfaction of the driver when the driver has to take over manually due to changes during the automatic parking process, thereby improving the user experience.

[0031] Combined with the first aspect and the above implementation manners, in some possible implementation manners, the method further includes:

[0032] If the feedback instruction indicates to stop parking, an confirmation instruction is output; wherein, the confirmation instruction is used to confirm whether to change the parking space;

[0033] If the user indicates to change the parking space, the candidate parking spaces are updated based on the environment where the vehicle is located.

[0034] In the above technical solution, when the feedback instruction indicates to stop parking, an confirmation instruction is output, and the confirmation instruction is used to confirm whether to change the parking space; if the user indicates to change the parking space, the candidate parking spaces are updated based on the environment where the vehicle is located; by outputting the parking success rate of each candidate parking space, it is easier for the user to predict the process and result of the automatic parking function, and in the case of a low parking success rate, the candidate parking spaces can also be changed, reducing the situation of manual intervention by the driver during the automatic parking process, thereby improving the user experience.

[0035] Combined with the first aspect and the above implementation manners, in some possible implementation manners, if it is detected that the vehicle is in the automatic parking state, the method further includes:

[0036] Obtain the initial parking spaces within the preset range of the vehicle;

[0037] If there is a second parking space among the initial parking spaces, determine the second parking space as the candidate parking space; wherein, the second parking space is used to indicate the parking space that the vehicle can park in.

[0038] In the above technical solution, it is determined whether there is a second parking space that can be parked in among the initial parking spaces within the preset range of the vehicle. When there is a second parking space among the initial parking spaces, the second parking space is determined as the candidate parking space; by traversing all the parking spaces within the preset range of the vehicle, the accuracy of determining the candidate parking space can be improved.

[0039] In a second aspect, a vehicle prompt device is provided. The vehicle prompt device includes:

[0040] An acquisition module, configured to acquire the vehicle size information of the vehicle and the reference information of the candidate parking spaces if it is detected that the vehicle is in the automatic parking state;

[0041] A prediction module, configured to predict the parking success rate of the vehicle automatically parking into each candidate parking space based on the vehicle size information and the reference information of the candidate parking spaces;

[0042] An output module, configured to output a prompt message; wherein, the prompt message includes the parking success rate.

[0043] In a third aspect, a vehicle is provided, including a memory and a processor, the memory is configured to store executable program codes; the processor is configured to call and run the executable program codes from the memory, so that the vehicle executes the vehicle prompt method in the first aspect or any possible implementation manner of the first aspect.

[0044] In a fourth aspect, a computer-readable storage medium is provided, which stores computer program codes, and when the computer program codes are run on a computer, the computer is made to execute the vehicle prompt method in the first aspect or any possible implementation manner of the first aspect.

[0045] In a fifth aspect, a computer program product is provided, which includes: computer program codes, and when the computer program codes are run on a computer, the computer is made to execute the vehicle prompt method in the first aspect or any possible implementation manner of the first aspect. Description of the Drawings

[0046] Figure 1 is a schematic diagram of a scenario of a vehicle prompt method provided by an embodiment of the present application;

[0047] Figure 2 is a schematic diagram of a scenario of another vehicle prompt method provided by an embodiment of the present application;

[0048] Figure 3 is a schematic flowchart of a vehicle prompt method provided by an embodiment of the present application;

[0049] Figure 4 is a schematic flowchart of another vehicle prompt method provided by an embodiment of the present application;

[0050] Figure 5 is a schematic structural diagram of a vehicle prompt device provided by an embodiment of the present application;

[0051] Figure 6 is a schematic structural diagram of a vehicle provided by an embodiment of the present application. Detailed Description of the Embodiments

[0052] The technical solutions in the present application will be clearly and elaborately described below in conjunction with the accompanying drawings. Among them, in the description of the embodiments of the present application, unless otherwise specified, " / " means "or". For example, A / B may represent A or B. The "and / or" in the text is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present application, "a plurality of" means two or more than two.

[0053] Hereinafter, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as implying or suggesting 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 such features.

[0054] Figure 1 It is a schematic diagram of the scenario of a vehicle prompting method provided by an embodiment of the present application.

[0055] Exemplarily, as Figure 1 shown, when the user triggers the automatic parking button, the vehicle 100 is controlled to automatically park into the parking space. However, due to reasons such as the environment where the parking space is located and the width of the road surface where the vehicle is located, not all automatic parkings of vehicles can enter the parking space. Therefore, it is possible that the driver needs to manually intervene during the automatic parking of some vehicles.

[0056] It can be understood that in the existing automatic parking technology, although there is a clear trigger timing (such as the user clicks the automatic parking button), the system lacks effective management of the user's parking expectations and there is no effective mechanism to predict the success rate of parking in advance. This leads to problems that the user may misunderstand or be dissatisfied with the automatic parking process and results. When the automatic parking abnormally terminates midway, the user needs to take over manually, which brings inconvenience to the user.

[0057] In view of this, the present application provides a vehicle prompting method, a vehicle prompting device, a vehicle, and a storage medium. This method can determine the success rate of automatic parking, so that the user can accurately determine the expectations for automatic parking, thereby improving the user experience.

[0058] Exemplarily, as Figure 2As shown, when the user triggers the automatic parking button, based on the vehicle size of vehicle 100 and the reference information of the parking space, the predicted parking success rate for vehicle 100 to automatically park into the parking space is 90%. When the preset success rate is 95%, the parking success rate of automatically parking into the parking space is less than the preset success rate, that is, the parking success rate of automatically parking into this parking space is relatively low. During the automatic parking process, there may be situations where the parking is not successful or the driver needs to manually intervene during parking. Then, the parking success rate of this candidate parking space is output as 95%, so that the driver can lower their psychological expectations based on the output parking success rate. In addition, the driver can also change the parking space according to the output parking success rate, thus avoiding the situation where the driver is dissatisfied due to the need for manual intervention by the driver during automatic parking, and further improving the user experience.

[0059] Optionally, the preset success rate can be 95%, 92%, 90%, etc. The preset success rate can be obtained through calibration and is not specifically limited here.

[0060] Through the above technical solution, by outputting the parking success rate of each candidate parking space, the user can lower their expectations for the automatic parking result according to the parking success rate, reduce the negative emotions brought by the driver's manual intervention during parking due to the relatively high parking success rate, and further improve the user experience.

[0061] Figure 3 It is a schematic flowchart of a vehicle prompt method provided by an embodiment of the present application.

[0062] Exemplarily, Figure 3 The method shown can be executed by the vehicle's vehicle control unit or chip.

[0063] Exemplarily, as Figure 3 shown, the method 300 includes S310 to S330, and S310 to S330 will be described in detail below.

[0064] S310, if it is detected that the vehicle is in the automatic parking state, obtain the vehicle size information of the vehicle and the reference information of the candidate parking space.

[0065] Exemplarily, when the opening instruction of the automatic parking function in the vehicle is detected, control the vehicle to switch to the automatic parking state. For example, when the selection operation of the control for the automatic parking function in the vehicle by the user is detected, it is determined that the opening instruction of the automatic parking function in the vehicle is detected, and control the vehicle to switch to the automatic parking state; or, when the voice instruction of the user indicating the opening of the automatic parking function is detected, it is determined that the opening instruction of the automatic parking function in the vehicle is detected, and control the vehicle to switch to the automatic parking state.

[0066] Exemplarily, when it is detected that the vehicle is in the automatic parking state, the initial parking spaces within the preset range of the vehicle are obtained. If there is a second parking space among the initial parking spaces, the second parking space is determined as the candidate parking space, and the second parking space is used to indicate the parking space where the vehicle can park.

[0067] Specifically, when it is detected that the vehicle is in the automatic parking state, the initial parking spaces within the preset range of the vehicle are obtained, and it is determined whether there is a second parking space (the parking space where the vehicle can park) among the initial parking spaces within the preset range of the vehicle; when there is a second parking space among the initial parking spaces, the second parking space is determined as the candidate parking space; when there is no second parking space among the initial parking spaces, a first prompt message is output, and the first prompt message is used to prompt that there is no available parking space within the preset range.

[0068] Optionally, the preset range is used to represent the area within a preset distance centered on the vehicle. For example, the preset range is the area within 3 meters centered on the vehicle; or, the preset range is the area within 5 meters centered on the vehicle as a rectangle. The preset range can be determined according to the hardware performance of the vehicle and is not specifically limited here.

[0069] For example, when the vehicle is in the automatic parking state, the initial parking spaces (all parking spaces) within the area of 3 meters centered on the vehicle are obtained, and it is determined whether there is a second parking space that can be parked in among the initial parking spaces. When there is a second parking space among the initial parking spaces, the second parking space is determined as the candidate parking space; when there is no second parking space among the initial parking spaces, the prompt message "Hello, there is no available parking space for the time being" is output.

[0070] Exemplarily, the parking space size of the second parking space where the vehicle can park is greater than or equal to the preset size. For example, the preset size can be the size of the vehicle. In addition, the initial parking spaces can be measured by a system that fuses ultrasonic and vision to determine information such as the size of the initial parking spaces and whether the initial parking spaces are occupied, and it is determined whether there is a second parking space among the initial parking spaces. The determination method of the second parking space is not limited here.

[0071] In the above technical solution, it is determined whether there is a second parking space that can be parked in among the initial parking spaces within the preset range of the vehicle. When there is a second parking space among the initial parking spaces, the second parking space is determined as the candidate parking space; by traversing all the parking spaces within the preset range of the vehicle, the accuracy of determining the candidate parking space can be improved.

[0072] Further, in the case of determining the candidate parking space, the vehicle size information of the vehicle and the reference information of the candidate parking space are obtained, so as to determine the parking success rate of the vehicle automatically parking into each candidate parking space according to the vehicle size information of the vehicle and the reference information of the candidate parking space.

[0073] Optionally, the vehicle size information of the vehicle includes the vehicle width, vehicle length, vehicle height, vehicle chassis height, etc.

[0074] Optionally, the reference information of the candidate parking spaces includes, but is not limited to: the parking space size information of each candidate parking space, the target angle between each candidate parking space and the vehicle, the target distance between each candidate parking space and the obstacle, the road surface width where the vehicle is located, etc. For example, the parking space size information of each candidate parking space includes the parking space width and the parking space length. The target angle between each candidate parking space and the vehicle refers to the angle between the longitudinal axis of the vehicle (the vehicle length direction) and the longitudinal axis of the parking space (the parking space length direction). The target distance between each candidate parking space and the obstacle includes the distance between the front of the parking space and the obstacle, the distance between the rear of the parking space and the obstacle, the distance between the left side of the parking space and the obstacle, and the distance between the right side of the parking space and the obstacle.

[0075] Exemplarily, the parking space size information of the candidate parking spaces is collected by a system that fuses ultrasonic and vision, and the target angle between each candidate parking space and the vehicle, the target distance between each candidate parking space and the obstacle, and the road surface width where the vehicle is located are collected by ultrasonic radars and vision sensors in the vehicle.

[0076] S320. Based on the vehicle size information and the reference information of the candidate parking spaces, predict the parking success rate of the vehicle automatically parking into each candidate parking space.

[0077] In one example, when there is at least one parking space around the candidate parking space, the reference information of the candidate parking space includes the occupancy status of the parking space in front of the candidate parking space, the occupancy status of the parking space behind the candidate parking space, the occupancy status of the parking space on the left side of the candidate parking space, and the occupancy status of the parking space on the right side of the candidate parking space. And based on the occupancy status of the parking spaces around the candidate parking space and the vehicle size information, predict the parking success rate of the vehicle automatically parking into each candidate parking space. Or, when there is no parking space around the candidate parking space, the reference information of the candidate parking space includes the parking space size information of the candidate parking space (the parking space width and the parking space length), and based on the parking space size information of the candidate parking space and the vehicle size information, predict the parking success rate of the vehicle automatically parking into each candidate parking space.

[0078] In another example, based on the vehicle size information and the reference information of the candidate parking spaces, predict the target duration for the vehicle to automatically park into each candidate parking space, and based on the target duration, determine the parking success rate of the vehicle automatically parking into each candidate parking space. The target duration is positively correlated with the parking success rate.

[0079] It can be understood that when the target duration for automatically parking into a candidate parking space is long, it indicates that the parking success rate of the automatic parking is high. When the target duration for automatically parking into a candidate parking space is short, it indicates that the parking success rate of the automatic parking is low. Therefore, by predicting the target duration for the vehicle to automatically park into each candidate parking space and determining the parking success rate of the vehicle automatically parking into each candidate parking space according to the positive correlation between the target duration and the parking success rate, the accuracy of determining the parking success rate can be ensured.

[0080] In the above technical solution, based on the vehicle size information and the reference information of the candidate parking spaces, the target time required for the vehicle to automatically park into each candidate parking space is predicted, and based on the target time, the parking success rate of the vehicle automatically parking into each candidate parking space is determined; the target time can reflect the difficulty (success rate) of automatic parking. By using the positive correlation between the target time and the parking success rate to determine the parking success rate of the vehicle automatically parking into each candidate parking space, the accuracy of determining the parking success rate can be ensured.

[0081] In another example, the vehicle size information and the reference information of the reference parking spaces are input into the success rate prediction model, and the parking success rate of each candidate parking space is predicted. The success rate prediction model is a model trained with sample data.

[0082] It can be understood that the reference information of the reference parking spaces is the same as the sample information of the reference parking spaces in the sample data. For example, when the sample information of the reference parking spaces in the sample data includes the sample parking space size information, the sample angles between each sample parking space and the vehicle, the sample distances between each sample parking space and the obstacles, and the sample vehicle size information, then in practical applications, the reference information of the reference parking spaces includes the parking space size information of each candidate parking space, the target angles between each candidate parking space and the vehicle, the target distances between each candidate parking space and the obstacles, and the vehicle size information of the vehicle.

[0083] Exemplarily, when the reference information of the reference parking spaces includes the parking space size information of each candidate parking space, the target angles between each candidate parking space and the vehicle, the target distances between each candidate parking space and the obstacles, and the road surface width where the vehicle is located, the training of the success rate prediction model is obtained based on the sample parking space size information, sample angles, sample distances, sample road surface width, and sample vehicle size information.

[0084] Specifically, according to the feature extraction network of the success rate prediction model, the feature information of the sample parking space size information, sample angles, sample distances, sample road surface width, and sample vehicle size information is extracted respectively. According to the data prediction network of the success rate prediction model, the extracted feature information is predicted to obtain the predicted success rate of the sample parking space, and the network parameters of the success rate prediction model are adjusted through the success rate difference between the predicted success rate and the sample success rate marked for the sample parking space.

[0085] In the above technical solution, the vehicle size information and the reference information of the reference parking spaces are input into the success rate prediction model, and the parking success rate of each candidate parking space is predicted; by pre-training the success rate prediction model, while improving the accuracy of the parking success rate predicted by the success rate prediction model, the efficiency of data prediction is also improved.

[0086] Exemplarily, the reference information of the candidate parking spaces includes at least one of the following information: the parking space size information of each candidate parking space, the target angle between each candidate parking space and the vehicle, the target distance between each candidate parking space and the obstacle, and the road surface width where the vehicle is located; based on the vehicle size information, the parking space size information, the target angle, the target distance, and the road surface width, the parking success rate of the vehicle automatically parking into each candidate parking space is determined.

[0087] For example, determine the size difference (including the length difference and the width difference) between the parking space size information of each candidate parking space and the vehicle size information, predict the first sub-success rate of the vehicle automatically parking into each candidate parking space according to the size difference, and the first sub-success rate is positively correlated with the size difference; predict the second sub-success rate according to the target angle between each candidate parking space and the vehicle, and the target angle is negatively correlated with the second sub-success rate; predict the third sub-success rate according to the target distance between each candidate parking space and the obstacle, and the third sub-success rate is positively correlated with the target distance; predict the fourth sub-success rate according to the road surface width where the vehicle is located, and the fourth sub-success rate is positively correlated with the road surface width. When the first sub-success rate, the second sub-success rate, the third sub-success rate, and the fourth sub-success rate are determined, the sum of the first sub-success rate, the second sub-success rate, the third sub-success rate, and the fourth sub-success rate is determined as the parking success rate of the vehicle automatically parking into each candidate parking space.

[0088] In the above technical solution, by determining the parking success rate of the vehicle automatically parking into each candidate parking space based on the vehicle size information, the parking space size information, the target angle, the target distance, and the road surface width; and predicting the parking success rate corresponding to each candidate parking space through the multi-dimensional reference data of each candidate parking space and the vehicle size information, the accuracy of the parking success rate corresponding to each candidate parking space can be ensured.

[0089] To describe the method for determining the parking success rate of each candidate parking space more clearly, the following embodiments will explain the calculation method of the parking success rate corresponding to the target parking space (any one of the candidate parking spaces).

[0090] Exemplarily, when the reference information of the candidate parking spaces includes the parking space size information of each candidate parking space, the target angle between each candidate parking space and the vehicle, the target distance between each candidate parking space and the obstacle, and the road surface width where the vehicle is located, the parking success rate corresponding to each candidate parking space is determined by the parking space size information, the target angle, the target distance, the road surface width corresponding to each candidate parking space, and the vehicle size information.

[0091] Specifically, based on the vehicle size information and the parking space size information of the target parking space, determine the first success rate corresponding to the target parking space; based on the target angle corresponding to the target parking space, determine the second success rate corresponding to the target parking space; wherein, the second success rate is positively correlated with the target angle; based on the target distance corresponding to the target parking space, determine the third success rate corresponding to the target parking space; based on the vehicle width and the road surface width, determine the fourth success rate corresponding to the target parking space; based on the first success rate, the second success rate, the third success rate and the fourth success rate, determine the parking success rate corresponding to the target parking space.

[0092] Optionally, the vehicle size information of the vehicle includes the vehicle height and the vehicle length.

[0093] Optionally, the parking space size information of each candidate parking space includes the parking space width and the parking space length. The target angle between each candidate parking space and the vehicle refers to the angle between the vehicle longitudinal axis (vehicle length direction) and the parking space longitudinal axis (parking space length direction). The target distance between each candidate parking space and the obstacle includes the distance between the front of the parking space and the obstacle, the distance between the rear of the parking space and the obstacle, the distance between the left side of the parking space and the obstacle, and the distance between the right side of the parking space and the obstacle.

[0094] Exemplarily, determine the success rate 1 according to the ratio of the parking space width to the vehicle width; determine the success rate 2 according to the ratio of the parking space length to the vehicle length, and determine the sum of the success rate 1 and the success rate 2 as the first success rate. Determine the second success rate according to the target angle between the target parking space and the vehicle. Determine the success rate 3 according to the distance between the target parking space and the obstacle in front of the parking space; determine the success rate 4 according to the distance between the target parking space and the obstacle behind the parking space; determine the success rate 5 according to the distance between the target parking space and the obstacle on the left side of the parking space; determine the success rate 6 according to the distance between the target parking space and the obstacle on the right side of the parking space, and determine the sum of the success rate 3, the success rate 4, the success rate 5 and the success rate 6 as the third success rate. Determine the fourth success rate according to the ratio of the road surface width to the vehicle width, and determine the sum of the first success rate, the second success rate, the third success rate and the fourth success rate as the parking success rate for the vehicle to automatically park into the target parking space.

[0095] Exemplarily, the expression of the parking success rate for the vehicle to automatically park into the target parking space can be expressed as follows:

[0096]

[0097] Wherein, S represents the parking success rate for the vehicle to automatically park into the target parking space, W v represents the vehicle width, W p represents the parking space width of the target parking space, k1 represents the first weight; L v represents the vehicle length, L pThe parking space length of the target parking space is denoted as, the second weight is denoted as k2; the target angle between the target parking space and the vehicle is denoted as α, and the third weight is denoted as k2; D f denotes the distance between the target parking space and the obstacle in front of the parking space, D b denotes the distance between the target parking space and the obstacle behind the parking space, D l denotes the distance between the target parking space and the obstacle on the left side of the parking space, D r denotes the distance between the target parking space and the obstacle on the right side of the parking space, and the fourth weight is denoted as k4; L r denotes the road surface width where the vehicle is located, and the fifth weight is denoted as k5.

[0098] Specifically, determine the parking space width W of the target parking space p and the vehicle width W v The ratio of, multiply the first weight k1 by this ratio, and determine it as the success rate 1; determine the parking space length L of the target parking space p and the vehicle length L v The ratio of is multiplied by the second weight k2 to determine it as the success rate 2, and the sum of the success rate 1 and the success rate 2 is the first success rate. Determine the sine value of the target angle α between the target parking space and the vehicle, and multiply the third weight k3 by the sine value to determine it as the second success rate. Determine the first distance D between the target parking space and the obstacle in front of the parking space f , the second distance D between the target parking space and the obstacle behind the parking space b , the third distance D between the target parking space and the obstacle on the left side of the parking space l , the fourth distance D between the target parking space and the obstacle on the right side of the parking space r , and determine the cumulative sum of the first distance, the second distance, the third distance and the fourth distance. Multiply the cumulative sum by the fourth weight k4 to determine it as the third success rate. Determine the road surface width L r and the vehicle width W v The ratio of is multiplied by the fifth weight k5 to determine it as the fourth success rate. The sum of the first success rate, the second success rate, the third success rate and the fourth success rate is determined as the target success rate for the vehicle to automatically park into the target parking space.

[0099] It can be understood that the above calculation method is only one method that may be adopted in practical applications. If the calculated value is relatively large during the calculation process according to the above technical solution, the calculated value can be reduced in equal proportion to ensure the accuracy of the parking success rate calculation.

[0100] It should be noted that k1 + k2 + k3 + k4 + k5 = 1. The magnitude relationship of the weights can be set as k1 = k2 > k3 > k4 > k5; or, when the parking space type of the target parking space is vertical (tilted), the length of the parking space only affects the distance that the front of the vehicle protrudes outside after parking, then the magnitude relationship of the weights can be set as k1 > k3 > k4 > k5 > k2. The determination of the weights can be formulated and optimized according to a data-driven method. For example, machine learning algorithms (such as regression analysis, decision tree, neural network, etc.) are used to train the model through a large amount of parking data, and then the optimal weight coefficients of each factor are determined. In addition, the parking data can also be divided, and the corresponding weights are determined according to the type of the vehicle.

[0101] Based on the vehicle size information and the parking space size information of the target parking space, the above technical solution determines the first success rate corresponding to the target parking space, determines the second success rate corresponding to the target parking space based on the target angle corresponding to the target parking space, determines the third success rate corresponding to the target parking space based on the target distance corresponding to the target parking space, and determines the fourth success rate corresponding to the target parking space based on the vehicle width and the road surface width; the success rate corresponding to the target parking space is determined through the multi-dimensional reference information of the target parking space. On this basis, the parking success rate corresponding to the target parking space is determined through the first success rate, the second success rate, the third success rate and the fourth success rate, which can ensure the accuracy of the parking success rate.

[0102] S330, output a prompt message.

[0103] Exemplarily, the prompt message may include the parking success rate of the vehicle automatically parking into each candidate parking space, and may also include the recommended parking space calculated according to the parking success rate; of course, it may also include an inquiry message to determine whether the user continues with automatic parking, etc.

[0104] Exemplarily, the parking success rate of each candidate parking space is output so that the user can know the parking success rate of each candidate parking space, and then the user can determine the target parking strategy (automatic parking, manual parking or changing the parking space) according to the parking success rate.

[0105] Exemplarily, in the case where the parking success rate of the vehicle automatically parking into each candidate parking space is predicted, it is determined whether the parking success rate of each candidate parking space is less than the preset success rate; when there is a parking success rate greater than or equal to the preset success rate among the parking success rates of each candidate parking space, the candidate parking space with a parking success rate greater than or equal to the preset success rate is used as the recommended parking space, and the identification number (such as the parking space number) and the parking success rate of the recommended parking space are output.

[0106] When the parking success rate of each candidate parking space is less than the preset success rate, output the parking success rate of each candidate parking space and an inquiry instruction. The inquiry instruction is used to ask the user whether to continue parking, and determine whether a feedback instruction from the user is received. When a feedback instruction from the user is detected, determine whether the feedback instruction indicates to continue parking. When the feedback instruction indicates to continue parking, control the vehicle to automatically park into the first parking space, where the first parking space is used to indicate any one of the candidate parking spaces.

[0107] Optionally, the first parking space can be a parking space designated by the user; the first parking space can be a parking space with a relatively large parking success rate value; or, the first parking space can be the parking space closest to the vehicle. The first parking space can be determined according to the actual situation and is not specifically limited herein.

[0108] In the above technical solution, when the parking success rate of each candidate parking space is less than the preset success rate, output the parking success rate of each candidate parking space and an inquiry instruction. The inquiry instruction is used to ask the user whether to continue parking; when a feedback instruction from the user is detected and the feedback instruction indicates to continue parking, control the vehicle to automatically park into the first parking space; when the parking success rate of each candidate parking space is relatively low, by outputting a prompt message and an inquiry instruction, the user can predict the process and result of automatic parking, so as to reduce the dissatisfaction of the driver when the driver has to take over manually due to changes during automatic parking, thereby improving the user experience.

[0109] Furthermore, when a feedback instruction from the user is detected and the feedback instruction from the user indicates to stop parking, output a confirmation instruction. The confirmation instruction is used to confirm whether to change the parking space. When the user confirms to change the parking space, update the candidate parking spaces based on the environment where the vehicle is located; when the user confirms to park manually, turn off the automatic parking function so that the user can park manually.

[0110] In addition, when no feedback instruction from the user is detected, select the one with the largest value in the parking success rate as the parking space to be parked, and control the vehicle to automatically park into the parking space to be parked.

[0111] For example, output the parking success rate of each candidate parking space on the vehicle's central control screen. When no feedback instruction from the user is detected, determine the parking space with the highest parking success rate among the candidate parking spaces, and control the vehicle to automatically park into this parking space. When a feedback instruction from the user is detected, determine whether the feedback instruction from the user indicates to continue parking. When the feedback instruction from the user indicates to continue parking, determine the first parking space, and control the vehicle to automatically park into the first parking space. When the feedback instruction from the user; when the feedback instruction from the user indicates to stop parking, output a confirmation instruction to confirm whether the user needs to change the parking space. When the user indicates to change the parking space, control the vehicle to automatically (manually) drive to other locations with parking spaces, update the candidate parking spaces, and re-determine the parking success rate of the updated candidate parking spaces.

[0112] It is understandable that when a candidate parking space is detected, due to a low parking success rate, an error may occur during automatic parking (for example, other vehicles park and the vehicle's movable area becomes smaller), requiring manual intervention by the driver. Therefore, by outputting the parking success rate, the user can lower the expectation of the vehicle's automatic parking result, and when the parking success rate is low, the user can also change the parking space, thereby reducing the need for manual intervention by the driver.

[0113] In the above technical solution, when the feedback instruction instructs to stop parking, a confirmation instruction is output, and the confirmation instruction is used to confirm whether to change the parking space; if the user instructs to change the parking space, the candidate parking space is updated based on the environment in which the vehicle is located; by outputting the parking success rate of each candidate parking space, it is easier for users to predict the process and results of the automatic parking function, and in the case of a low parking success rate, the candidate parking space can be changed, reducing the situation of manual intervention by the driver during the automatic parking process, thereby improving the user experience.

[0114] For example, the parking success rate of each candidate parking space can be output by voice, and the parking success rate of each candidate parking space can also be output by the vehicle screen; of course, the parking success rate of each candidate parking space can be output by voice and the vehicle screen at the same time. The output method of the parking success rate of each candidate parking space can be determined according to the actual situation, and is not specifically limited here. The output method of the inquiry command and the confirmation command can be deduced in the same way, and will not be repeated here.

[0115] The above technical solution, when the vehicle is in the automatic parking state, predicts the parking success rate of the vehicle automatically parking into each candidate parking space based on the vehicle size information and the reference information of the candidate parking spaces, and outputs the parking success rate of each candidate parking space; compared with the prior art of controlling the vehicle to directly perform automatic parking, the present application, by outputting the parking success rate of each candidate parking space, can enable the user to lower the expectation of the automatic parking result according to the parking success rate, reduce the negative emotions caused by the driver's manual intervention during parking due to the high parking success rate, and thus improve the user experience.

[0116] Figure 4 It is a schematic flow chart of another vehicle prompt method provided in an embodiment of the present application.

[0117] For example, Figure 4 The method shown can be executed by a vehicle controller or chip in the vehicle.

[0118] For example, Figure 4 As shown, the method 400 includes S401 to S409, and S401 to S409 are described in detail below.

[0119] S401: If it is detected that the vehicle is in an automatic parking state, an initial parking space within a preset range of the vehicle is obtained.

[0120] Exemplarily, upon detecting a selection operation by the user on the control for the automatic parking function in the vehicle, it is determined that an activation instruction for the automatic parking function in the vehicle is detected, and the vehicle is controlled to switch to the automatic parking state; or, upon detecting a voice instruction from the user indicating activation of the automatic parking function, it is determined that an activation instruction for the automatic parking function in the vehicle is detected, and the vehicle is controlled to switch to the automatic parking state.

[0121] Exemplarily, when it is detected that the vehicle is in the automatic parking state, an initial parking space within the preset range of the vehicle is acquired. For example, the preset range is the area within 3 meters centered on the vehicle.

[0122] S402, if there is a parkable parking space among the initial parking spaces, the parkable parking space is determined as the candidate parking space.

[0123] Exemplarily, when it is detected that the vehicle is in the automatic parking state, an initial parking space within the preset range of the vehicle is acquired. If there is a parkable parking space among the initial parking spaces, the parkable parking space is determined as the candidate parking space.

[0124] Specifically, when it is detected that the vehicle is in the automatic parking state, an initial parking space within the preset range of the vehicle is acquired, and it is determined whether there is a parkable parking space among the initial parking spaces within the preset range of the vehicle; when there is a parkable parking space among the initial parking spaces, the parkable parking space is determined as the candidate parking space; when there is no parkable parking space among the initial parking spaces, a first prompt message is output, and the first prompt message is used to prompt that there is no parkable parking space within the preset range.

[0125] Exemplarily, the size of the parking space where the vehicle can be parked is greater than or equal to the preset size. For example, the preset size can be the size of the vehicle.

[0126] S403, obtain the vehicle size information of the vehicle, the parking space size information of each candidate parking space, the target angle between each candidate parking space and the vehicle, the target distance between each candidate parking space and the obstacle, and the road width where the vehicle is located.

[0127] Optionally, the vehicle size information of the vehicle includes the vehicle width and the vehicle length of the vehicle.

[0128] Optionally, the reference information of the candidate parking space includes the parking space size information of each candidate parking space, the target angle between each candidate parking space and the vehicle, the target distance between each candidate parking space and the obstacle, and the road width where the vehicle is located. For example, the parking space size information of each candidate parking space includes the parking space width and the parking space length, the target angle between each candidate parking space and the vehicle refers to the angle between the vehicle longitudinal axis (vehicle length direction) and the parking space longitudinal axis (parking space length direction), and the target distance between each candidate parking space and the obstacle includes the distance between the front of the parking space and the obstacle, the distance between the rear of the parking space and the obstacle, the distance between the left side of the parking space and the obstacle, and the distance between the right side of the parking space and the obstacle.

[0129] S404. Determine a first success rate corresponding to the target parking space based on the vehicle size information and the parking space size information of the target parking space.

[0130] Exemplarily, the target parking space is any one of the candidate parking spaces.

[0131] Exemplarily, determine the ratio of the width of the target parking space to the width of the vehicle, and determine the product of the first weight and this ratio as the success rate 1; determine the ratio of the length of the target parking space to the length of the vehicle, and determine the product of the second weight and this ratio as the success rate 2. The sum of the success rate 1 and the success rate 2 is the first success rate.

[0132] S405. Determine a second success rate corresponding to the target parking space based on the target angle corresponding to the target parking space.

[0133] Exemplarily, determine the sine value of the target angle between the target parking space and the vehicle, and determine the product of the third weight and the sine value as the second success rate.

[0134] S406. Determine a third success rate corresponding to the target parking space based on the target distance corresponding to the target parking space.

[0135] Exemplarily, determine the first distance between the target parking space and the obstacle in front of the parking space, the second distance between the target parking space and the obstacle behind the parking space, the third distance between the target parking space and the obstacle on the left side of the parking space, and the fourth distance between the target parking space and the obstacle on the right side of the parking space, and determine the cumulative sum of the first distance, the second distance, the third distance and the fourth distance. Determine the product of the cumulative sum and the fourth weight as the third success rate.

[0136] S407. Determine a fourth success rate corresponding to the target parking space based on the vehicle width and the road surface width.

[0137] Exemplarily, determine the ratio of the road surface width to the vehicle width, and determine the product of this ratio and the fifth weight as the fourth success rate.

[0138] S408. Obtain the target success rate corresponding to the target parking space based on the first success rate, the second success rate, the third success rate and the fourth success rate.

[0139] Exemplarily, in the case of obtaining the first success rate, the second success rate, the third success rate and the fourth success rate, determine the sum of the first success rate, the second success rate, the third success rate and the fourth success rate as the target success rate for the vehicle to automatically park into the target parking space.

[0140] S409. Output the parking success rates of each candidate parking space.

[0141] Exemplarily, when predicting the parking success rate of the vehicle automatically parking into each candidate parking space, output the parking success rate of each candidate parking space so that the user can determine the target parking strategy according to the parking success rate.

[0142] For example, output the parking success rate of each candidate parking space on the central control screen of the vehicle. When no feedback operation of the user is detected, determine the parking space with the highest parking success rate among the candidate parking spaces, and control the vehicle to automatically park into this space. When a feedback operation of the user is detected, determine whether the feedback operation of the user indicates to continue parking. When the feedback operation of the user indicates to continue parking, determine the parking space with the highest parking success rate among the candidate parking spaces, and control the vehicle to automatically park into this space; when the feedback operation of the user indicates to change the parking space, then control the vehicle to automatically (manually) drive to other locations with parking spaces, update the candidate parking spaces, and re-determine the parking success rate of the updated candidate parking spaces.

[0143] Exemplarily, determine whether the parking success rate of each candidate parking space is less than the preset success rate. When there is a parking success rate greater than or equal to the preset success rate, determine the candidate parking space corresponding to the one with the highest parking success rate among the parking success rates greater than or equal to the preset success rate as the recommended parking space, and control the vehicle to automatically park into the recommended parking space. When the parking success rate of each candidate parking space is less than the preset success rate, output a prompt message so that the user can determine the parking strategy (manual parking / auto parking / change parking space) according to the prompt message.

[0144] It can be understood that when a candidate parking space is detected, since automatic parking is performed when the parking success rate is low, there may be changes during the automatic parking process and the driver needs to intervene manually. Therefore, by outputting the parking success rate, the user's expectation for automatic parking can be reduced, and when the parking success rate is low, the parking space can also be changed, thereby reducing the situation of driver manual intervention.

[0145] In the above technical solution, when the vehicle is in the automatic parking state, based on the vehicle size information and the reference information of the candidate parking spaces, predict the parking success rate of the vehicle automatically parking into each candidate parking space, and output the parking success rate of each candidate parking space; the parking success rate can reflect the success probability and difficulty of automatic parking. By outputting the parking success rate of each candidate parking space, the user can reduce the expectation for the automatic parking result according to the parking success rate, reduce the negative emotions brought by the driver's manual intervention during parking due to the low parking success rate, and thus improve the user experience.

[0146] It should be understood that the above examples are provided to help those skilled in the art understand the embodiments of the present application, rather than to limit the embodiments of the present application to the specific numerical values or specific scenarios illustrated. Those skilled in the art can obviously make various equivalent modifications or changes based on the above examples, and such modifications or changes also fall within the scope of the embodiments of the present application.

[0147] As described above in conjunction with Figures 1 to 4 the vehicle prompting method provided by the embodiments of the present application has been described in detail; hereinafter, in conjunction with Figure 5 and Figure 6 the device embodiments of the present application will be described in detail. It should be understood that the devices in the embodiments of the present application can execute the various methods of the foregoing embodiments of the present application, that is, the specific working processes of the following various products can refer to the corresponding processes in the foregoing method embodiments.

[0148] Figure 5 is a schematic structural diagram of a vehicle prompting device provided by an embodiment of the present application.

[0149] Exemplarily, as Figure 5 shown, the vehicle prompting device 500 includes:

[0150] An acquisition module 510, configured to acquire the vehicle size information of the vehicle and the reference information of the candidate parking spaces if it is detected that the vehicle is in an automatic parking state;

[0151] A prediction module 520, configured to predict the parking success rate of the vehicle automatically parking into each candidate parking space based on the vehicle size information and the reference information of the candidate parking spaces;

[0152] An output module 530, configured to output a prompt message; wherein, the prompt message includes the parking success rate.

[0153] Optionally, as an embodiment, the reference information of the candidate parking spaces includes at least one of the following information: the parking space size information of each candidate parking space, the target angle between each candidate parking space and the vehicle, the target distance between each candidate parking space and the obstacle, and the road surface width where the vehicle is located.

[0154] Optionally, as an embodiment, if the reference information of the candidate parking spaces includes the parking space size information of each candidate parking space, the target angle between each candidate parking space and the vehicle, the target distance between each candidate parking space and the obstacle, and the road surface width where the vehicle is located;

[0155] The prediction module 520 is specifically configured to:

[0156] Based on the vehicle size information and the parking space size information of the target parking space, determine the first success rate corresponding to the target parking space; wherein, the target parking space is used to indicate any one of the candidate parking spaces;

[0157] Determine the second success rate corresponding to the target parking space based on the target angle corresponding to the target parking space; wherein, the second success rate is negatively correlated with the target angle;

[0158] Determine the third success rate corresponding to the target parking space based on the target distance corresponding to the target parking space;

[0159] Determine the fourth success rate corresponding to the target parking space based on the vehicle width and the road surface width;

[0160] Determine the parking success rate corresponding to the target parking space based on the first success rate, the second success rate, the third success rate and the fourth success rate.

[0161] Optionally, as an embodiment, the prediction module 520 is specifically configured to:

[0162] Input the vehicle size information and the reference information of the reference parking space into the success rate prediction model, and predict the parking success rate of each candidate parking space;

[0163] Wherein, the success rate prediction model is a model trained with sample data..

[0164] Optionally, as an embodiment, the vehicle prompting device 500 further includes a detection module, and the detection module is specifically configured to:

[0165] Determine whether the parking success rate of each candidate parking space is less than the preset success rate;

[0166] Output a prompt message, including:

[0167] If the parking success rate of each candidate parking space is less than the preset success rate, output the parking success rate of each candidate parking space and an inquiry instruction; wherein, the inquiry instruction is used to inquire whether the user continues to park;

[0168] If a feedback instruction of the user is detected, determine whether the feedback instruction indicates to continue parking;

[0169] If the feedback instruction indicates to continue parking, control the vehicle to automatically park into the first parking space; wherein, the first parking space is used to indicate any one of the candidate parking spaces.

[0170] Optionally, as an embodiment, the detection module is specifically configured to:

[0171] If the feedback instruction indicates to stop parking, output a confirmation instruction; wherein, the confirmation instruction is used to confirm whether to change the parking space;

[0172] If the user indicates to change the parking space, update the candidate parking spaces based on the environment where the vehicle is located.

[0173] Optionally, as an embodiment, the acquisition module 510 is specifically configured to:

[0174] Obtain an initial parking space within the preset range of the vehicle;

[0175] If there is a second parking space among the initial parking spaces, determine the second parking space as a candidate parking space; wherein, the second parking space is used to indicate a parking space where the vehicle can park.

[0176] It should be noted that the above vehicle prompting device 500 is embodied in the form of a functional unit. The term "module" here can be implemented in the form of software and / or hardware, and no specific limitation is made thereto.

[0177] For example, the "module" can be a software program, a hardware circuit, or a combination of the two that implements the above functions. The hardware circuit may include an application specific integrated circuit (ASIC), an electronic circuit, a processor (such as a shared processor, a dedicated processor, or a group of processors, etc.) for executing one or more software or firmware programs, a memory, a merged logic circuit, and / or other suitable components that support the described functions.

[0178] Therefore, the units of each example described in the embodiments of the present application can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. A person skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0179] Figure 6 It is a schematic structural diagram of a vehicle provided by an embodiment of the present application.

[0180] Exemplarily, vehicle 600 is the same vehicle as Figure 1 vehicle 100 therein.

[0181] Exemplarily, as Figure 6 shown, the vehicle 600 includes: a memory 610 and a processor 620, wherein, an executable program code 630 is stored in the memory 610, and the processor 620 is used to call and execute the executable program code 630 to execute a vehicle prompting method.

[0182] Exemplarily, the memory 610 can be used to store the relevant programs of the vehicle prompting method provided in the embodiments of the present application; the processor 620 can call the relevant programs of the vehicle prompting method stored in the memory 610 to execute the vehicle prompting method of the embodiments of the present application; for example, if it is detected that the vehicle is in the automatic parking state, obtain the vehicle size information of the vehicle and the reference information of the candidate parking spaces; based on the vehicle size information and the reference information of the candidate parking spaces, predict the parking success rate of the vehicle automatically parking into each candidate parking space; output a prompt message; wherein, the prompt message includes the parking success rate.

[0183] In this embodiment, the device can be divided into functional modules according to the above method examples. For example, it can correspond to each functional module, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is illustrative, only a logical function division, and there can be other division methods in actual implementation.

[0184] In the case of dividing each functional module corresponding to each function, the device can also include an acquisition module, a prediction module, an output module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be cited in the function description of the corresponding functional module, and will not be repeated here.

[0185] It should be understood that the device provided in this embodiment is used to execute the above vehicle prompting method, so the same effect as the above implementation method can be achieved.

[0186] In the case of adopting an integrated unit, the device can include a processing module and a storage module. Among them, when the device is applied to a vehicle, the processing module can be used to control and manage the actions of the vehicle. The storage module can be used to support the vehicle to execute relevant program codes, etc.

[0187] Among them, the processing module can be a processor or a controller, which can implement or execute various exemplary logical blocks, modules and circuits shown in combination with the disclosure of the present application. The processor can also be a combination of computing functions, such as including a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module can be a memory.

[0188] In addition, the device provided in the embodiments of the present application can specifically be a chip, a component or a module. The chip can include a connected processor and a memory; wherein, the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a vehicle prompting method provided in the above embodiments.

[0189] The present application further provides a computer-readable storage medium, in which computer program code is stored. When the computer program code runs on a computer, the computer is caused to execute the above-related method steps to implement a vehicle prompting method provided in the above embodiments. Among them, the computer-readable storage medium may include, but is not limited to, any type of disk, including floppy disks, optical disks, digital versatile discs (DVDs), compact disc read-only memories (CD-ROMs), microdrives, and magneto-optical discs, read-only memories (ROMs), random access memories (RAMs), erasable programmable read-only memories (EPROMs), electrically erasable programmable read-only memories (EEPROMs), dynamic random access memories (DRAMs), video random access memories (VRAMs), flash memory devices, magnetic cards or optical cards, nano-systems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0190] The present application further provides a computer program product. When the computer program product runs on a computer, the computer is caused to execute the above-related steps to implement a vehicle prompting method provided in the above embodiments.

[0191] Among them, the vehicle, computer-readable storage medium, computer program product, or chip provided in the present application are all used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be elaborated here.

[0192] Through the description of the above embodiments, those skilled in the art can understand that, for the convenience and brevity of description, only the above division of each functional module is used as an example. In practical applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0193] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of devices or units can be in electrical, mechanical or other forms.

[0194] The above content is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed in the present application can easily think of changes or substitutions, which should all be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A vehicle prompting method, characterized in that: The method comprises: If it is detected that the vehicle is in an automatic parking state, obtaining vehicle size information of the vehicle and reference information of candidate parking spaces; Based on the vehicle size information and the reference information of the candidate parking spaces, predicting the parking success rate of the vehicle automatically parking into each candidate parking space; Output prompt information; wherein the prompt information includes the parking success rate.

2. The method according to claim 1, characterized in that The reference information of the candidate parking spaces includes at least one of the following information: parking space size information of each candidate parking space, target angles between each candidate parking space and the vehicle, target distances between each candidate parking space and obstacles, and width of the road where the vehicle is located.

3. The method according to claim 2, characterized in that If the reference information of the candidate parking spaces includes the parking space size information of each candidate parking space, the target angle between each candidate parking space and the vehicle, the target distance between each candidate parking space and the obstacle, and the width of the road where the vehicle is located; The predicting the parking success rate of the vehicle automatically parking into each candidate parking space based on the vehicle size information and the reference information of the candidate parking space includes: Based on the vehicle size information and the parking space size information of the target parking space, determining a first success rate corresponding to the target parking space; wherein the target parking space is used to indicate any parking space among the candidate parking spaces; Determining a second success rate corresponding to the target parking space based on a target angle corresponding to the target parking space; wherein the second success rate is negatively correlated with the target angle; determining a third success rate corresponding to the target parking space based on the target distance corresponding to the target parking space; Determining a fourth success rate corresponding to the target parking space based on the vehicle width and the road width; The parking success rate corresponding to the target parking space is determined based on the first success rate, the second success rate, the third success rate, and the fourth success rate.

4. The method according to claim 1, characterized in that: The predicting the parking success rate of the vehicle automatically parking into each candidate parking space based on the vehicle size information and the reference information of the candidate parking space includes: Inputting the vehicle size information and the reference information of the reference parking space into a success rate prediction model to predict the parking success rate of each candidate parking space; The success rate prediction model is a model trained with sample data.

5. The method according to any one of claims 1 to 4, characterized in that Before outputting the prompt information, the method further includes: Determining whether the parking success rate of each candidate parking space is less than a preset success rate; The output prompt information includes: If the parking success rate of each candidate parking space is less than the preset success rate, output the parking success rate of each candidate parking space and an inquiry instruction; wherein the inquiry instruction is used to inquire the user whether to continue parking; If a feedback instruction from the user is detected, determining whether the feedback instruction indicates to continue parking; If the feedback instruction indicates to continue parking, the vehicle is controlled to automatically park into a first parking space; wherein the first parking space is used to indicate any one of the candidate parking spaces.

6. The method according to claim 5, characterized in that The method further comprises: If the feedback instruction indicates to stop parking, output a confirmation instruction; wherein the confirmation instruction is used to confirm whether to change the parking space; If the user instructs to change the parking space, the candidate parking space is updated based on the environment of the vehicle.

7. The method according to any one of claims 1 to 4, characterized in that If it is detected that the vehicle is in the automatic parking state, the method further includes: Obtaining an initial parking space within a preset range of the vehicle; If there is a second parking space in the initial parking space, the second parking space is determined as the candidate parking space; wherein the second parking space is used to indicate a parking space where the vehicle can be parked.

8. A vehicle prompting device, characterized in that: The device comprises: An acquisition module, configured to acquire vehicle size information of the vehicle and reference information of candidate parking spaces if it is detected that the vehicle is in an automatic parking state; A prediction module, configured to predict a parking success rate of the vehicle automatically parking into each candidate parking space based on the vehicle size information and the reference information of the candidate parking spaces; An output module is used to output prompt information; wherein the prompt information includes the parking success rate.

9. A vehicle, characterized in that: The vehicle comprises: A memory for storing executable program codes; A processor is used to call and run the executable program code from the memory, so that the vehicle executes the vehicle prompt method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the vehicle prompt method according to any one of claims 1 to 7 is implemented.

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