Method and device for determining a parking position

Abstract

The embodiment of the invention provides a method and a device for determining a parking position. The method includes querying a remote device for a set of lane units associated with a destination in response to a distance of a vehicle to the destination being less than a threshold, where the lane units correspond to areas obtained by dividing lanes; in response to obtaining first information about the set of lane units from the remote device, a parking position of the vehicle is determined based at least on the first information about the set of lane units, the first information indicating whether the set of lane units permit parking. Based on this manner, embodiments of the present disclosure can assist a vehicle in determining a parking position by querying a lane unit from a remote device when the vehicle approaches a destination.

Description

Technical Field

[0001] Example embodiments of the present disclosure generally relate to the field of computers, and in particular, to methods, apparatuses, devices, computer-readable storage media, and computer program products for determining a parking position. Background Art

[0002] Autopilot is a technology that uses a computer to replace a human driver or assist a human driver in perceiving the surrounding environment of a vehicle, planning the movement trajectory of the vehicle, and controlling the vehicle to reach a specified destination. During the travel of an autonomous vehicle, how to control the docking of the autonomous vehicle is a focus issue of concern. Summary of the Invention

[0003] In a first aspect of the present disclosure, a method for determining a parking position is provided. The method includes: in response to the distance from the vehicle to the destination being less than a threshold, querying a remote device for a set of lane units associated with the destination, where the lane units correspond to regions obtained by dividing a lane; in response to obtaining first information about the set of lane units from the remote device, determining the parking position of the vehicle based at least on the first information about the set of lane units, the first information indicating whether the set of lane units allows parking.

[0004] In a second aspect of the present disclosure, a device for determining a parking position is provided. The device includes: a query module configured to query a remote device for a set of lane units associated with the destination in response to the distance from the vehicle to the destination being less than a threshold, where the lane units correspond to regions obtained by dividing a lane; a parking module configured to determine the parking position of the vehicle based at least on the first information about the set of lane units in response to obtaining the first information about the set of lane units from the remote device, the first information indicating whether the set of lane units allows parking.

[0005] In a third aspect of the present disclosure, an electronic device is provided. The device includes at least one processing unit; and at least one memory, the at least one memory being coupled to the at least one processing unit and storing instructions for execution by the at least one processing unit. The instructions, when executed by the at least one processing unit, cause the device to execute the method of the first aspect.

[0006] In a fourth aspect of the present disclosure, a computer-readable storage medium is provided. A computer program is stored on the computer-readable storage medium, and the computer program can be executed by a processor to implement the method of the first aspect.

[0007] In a fifth aspect of the present disclosure, a computer program product is provided. The computer program product includes computer-executable instructions that, when executed by a processor, implement the method of the first aspect.

[0008] It should be understood that the content described in the Summary of the Invention section is not intended to limit the key features or important features of the embodiments of the present disclosure, nor is it used to limit the scope of the present disclosure. Other features of the present disclosure will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In conjunction with the accompanying drawings and with reference to the following detailed description, the above and other features, advantages, and aspects of the embodiments of the present disclosure will become more apparent. In the drawings, the same or similar reference numerals denote the same or similar elements, where:

[0010] Figure 1 FIG. 1 shows a schematic diagram of an exemplary environment in which embodiments of the present disclosure can be implemented;

[0011] Figure 2 FIG. 2 shows a schematic diagram of an exemplary process for determining a parking position according to some embodiments of the present disclosure;

[0012] Figure 3 FIG. 3 shows a schematic diagram of an exemplary system according to some embodiments of the present disclosure;

[0013] Figure 4 FIG. 4 shows a schematic structural block diagram of an exemplary device for determining a parking position according to certain embodiments of the present disclosure; and

[0014] Figure 5 FIG. 5 shows a block diagram of a device capable of implementing multiple embodiments of the present disclosure. DETAILED DESCRIPTION

[0015] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although some embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. On the contrary, these embodiments are provided to more thoroughly and completely understand the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not used to limit the protection scope of the present disclosure.

[0016] It should be noted that the title of any section / subsection provided herein is not restrictive. Various embodiments are described throughout this document, and any type of embodiment can be included under any section / subsection. In addition, the embodiments described in any section / subsection can be combined with any other embodiments described in the same section / subsection and / or different section / subsections in any manner.

[0017] In the description of the embodiments of the present disclosure, the term "including" and its similar terms should be understood as open inclusion, that is, "including but not limited to". The term "based on" should be understood as "at least partially based on". The term "an embodiment" or "the embodiment" should be understood as "at least one embodiment". The term "some embodiments" should be understood as "at least some embodiments". There may also be other explicit and implicit definitions hereinafter. The terms "first", "second", etc. may refer to different or the same objects. There may also be other explicit and implicit definitions hereinafter.

[0018] In the embodiments of the present disclosure, it may involve the user's data, data acquisition and / or use, etc. These aspects all comply with the corresponding laws, regulations and related provisions. In the embodiments of the present disclosure, the collection, acquisition, processing, processing, forwarding, use, etc. of all data are carried out on the premise that the user is aware of and confirms. Accordingly, when implementing the embodiments of the present disclosure, the types, usage scopes, usage scenarios, etc. of the data or information that may be involved should be informed to the user and the user's authorization should be obtained through appropriate means according to the relevant laws and regulations. The specific informing and / or authorization methods may vary according to the actual situation and application scenarios, and the scope of the present disclosure is not limited in this regard.

[0019] In the solutions of this specification and embodiments, if personal information processing is involved, it will be processed on the premise of having a legal basis (such as obtaining the consent of the personal information subject, or being necessary for performing a contract, etc.), and will only be processed within the specified or agreed scope. If the user refuses to process personal information other than the necessary information required for the basic functions, it will not affect the user's use of the basic functions.

[0020] As briefly mentioned above, the travel service based on autonomous vehicles (such as driverless vehicles, etc.) has gradually become an important travel mode. It is difficult for autonomous vehicles to efficiently determine a suitable parking position.

[0021] The embodiments of the present disclosure propose a solution for determining a parking position. According to various embodiments of the present disclosure, in response to the distance from the vehicle to the destination being less than a threshold, a set of lane units associated with the destination can be queried from a remote device, where a lane unit corresponds to an area obtained by dividing a lane. In response to obtaining first information about a set of lane units from the remote device, the parking position of the vehicle can be determined based at least on the first information of the set of lane units, and the first information indicates whether a set of lane units allows parking.

[0022] Based on such a manner, the embodiments of the present disclosure can assist the vehicle in determining the parking position by querying the lane units from the remote device when the vehicle is approaching the destination.

[0023] Example environment

[0024] Figure 1 FIG. 1 is a schematic diagram showing an example environment 100 in which embodiments of the present disclosure can be implemented. In environment 100, a user 110 (also referred to as the current user) can obtain travel services through a terminal device 124.

[0025] As Figure 1 shown, a vehicle 140 can be used to provide travel services. In some embodiments, the vehicle 124 can be any type of vehicle that can carry people and / or objects and move through a power system such as an engine. Examples of the vehicle 140 include, but are not limited to, sedans, trucks, buses, electric vehicles, motorcycles, recreational vehicles, trains, and the like. In some examples, one or more vehicles 140 in the environment 100 can be vehicles with autonomous driving capabilities.

[0026] As Figure 1 shown, an application 126 can be installed in the terminal device 120 and provide a user interface 130 to the user for searching for service locations and / or initiating a vehicle usage request. Such an application 126 can include any suitable type of application, for example, a ride-hailing application, a map application, a navigation application, a mini-program, or a browser, etc.

[0027] The terminal device 124 can be communicatively connected to a cloud device 122 (also referred to as a remote device), for example, to collaboratively provide travel services to the user 110. The terminal device 124 and the cloud device 122 can be collectively referred to as a service system 120.

[0028] Exemplarily, the terminal device 124 can include any suitable type of electronic device, and its examples can include, but are not limited to, mobile phones, desktop computers, laptop computers, notebook computers, netbook computers, tablet computers, media computers, multimedia tablets, personal communication system (PCS) devices, etc.

[0029] It should be understood that the structure and function of the environment 100 are described only for exemplary purposes and do not imply any limitation on the scope of the present disclosure.

[0030] Example process

[0031] Figure 2 FIG. 2 is a schematic diagram showing an example process 200 for determining a parking position according to some embodiments of the present disclosure. The process 200 can be implemented at the vehicle 140. The following refers to Figure 1 describe the process 200.

[0032] In block 210, the vehicle 140 can determine whether the distance to the destination is less than a threshold.

[0033] In some embodiments, the destination may include a stop location of the current trip of the vehicle. For example, when the vehicle 140 provides a travel service, the destination may include the starting point, the ending point, or a passing point of the trip. The vehicle 140 may, for example, need to drive to the destination to pick up passengers, drop off passengers, or make a temporary stop.

[0034] In response to determining in block 202 that the distance of the vehicle 140 to the destination is less than a threshold, process 200 may proceed to block 204. In block 204, the vehicle 140 queries a remote device (e.g., the cloud device 122) for a set of lane units associated with the destination, where the lane units correspond to regions obtained by dividing the lanes.

[0035] The determination process of the lane units will be introduced first below. In some embodiments, the cloud device 122 may generate a plurality of lane units based on high-precision map data (HD map).

[0036] Considering that the lane units are basic information for assisting parking, in some embodiments, the cloud device 122 may only divide the rightmost lane in the road to determine a plurality of lane units.

[0037] In some embodiments, the cloud device 122 may divide the lane based on a preset length to determine a plurality of lane units. For example, the cloud device 122 may divide the lane along the direction of the lane into a plurality of lane units with a preset length.

[0038] Further, the cloud device 122 may determine the attributes of the lane units based on the high-precision map data. In some embodiments, such attributes may include the parking attributes of the lane units, such as indicating whether parking is allowed in the lane unit, the time period when parking is allowed, the duration of parking allowed, etc.

[0039] In some embodiments, the cloud device 122 may, for example, determine whether parking is allowed in the lane unit based on the high-precision map data. Specifically, the cloud device 122 may determine the lane type of the lane unit based on the high-precision map data. Such lane types may include, for example, but are not limited to: ordinary lanes, bicycle lanes, emergency lanes, right-turn lanes, bus lanes, ramps, and so on.

[0040] Further, the cloud device 122 may, for example, determine whether such a lane type allows parking according to the corresponding driving regulations. For example, when the lane type of the lane unit is a type where parking is not allowed according to the driving regulations, the cloud device 122 may correspondingly mark such a lane unit as prohibited from parking.

[0041] Figure 3 Illustrates an example system 300 according to some embodiments of the present disclosure. As Figure 3As shown, the system 300 may include an HD map 330 and an HD CELL 320. Specifically, the HD lane unit 322 may create or update lane unit information based on the highly accurate map data produced by the HD map production unit 332 and according to the lane unit creation process described above.

[0042] Further, as Figure 3 shown, the vehicle end 310 may obtain lane unit data 322 from the HD CELL 320 and may maintain this data locally at the vehicle end 310 for use in assisting the vehicle end 310 with parking. In addition, the vehicle end 310 may also receive the highly accurate map data published by the HD map publishing module 324 and store it as the vehicle end map version 314.

[0043] In some embodiments, when the vehicle 140 starts, the vehicle 140 may update the lane unit information stored locally in the vehicle 140 based on information obtained from a remote device (e.g., the cloud device 122). For example, the vehicle 140 may determine whether it is necessary to update the locally stored lane unit data 312 based on whether the version of the lane unit data 312 maintained locally is consistent with the version of the lane unit data maintained by the HD CELL 320.

[0044] In some cases, during the driving process of the vehicle 140, the parking status around the destination may change. For example, there may be traffic control or other situations. Accordingly, the cloud device 122 may determine the update attributes of each lane unit based on the highly accurate map data, the navigation map data, or the real-time map data to indicate whether the lane unit allows parking, the time period during which parking is allowed, the duration of allowed parking, etc.

[0045] Continuing to refer to Figure 2 , in block 206, the vehicle 140 may determine whether it has obtained first information about a set of lane units associated with the destination from a remote device. If it is determined in block 206 that the vehicle 140 has obtained first information about a set of lane units from a remote device, then the process 200 may proceed to block 208.

[0046] In block 208, the vehicle 140 determines the parking position of the vehicle based at least on the obtained first information, where the first information may indicate whether the set of lane units allows parking.

[0047] As an example, the remote device may, for example, send the vehicle 140 the complete information about a set of lane units associated with the destination for the vehicle to determine the parking position based on the complete information about the set of lane units.

[0048] In another example, the vehicle 140 may locally store, for example, basic information about lane units, such as the location of the lane units, the shape of the lane units, etc. The remote device may, for example, send updated parking attributes of the lane units to the vehicle 140, such as indicating that its latest parking attribute is allowing parking or prohibiting parking.

[0049] Further, the vehicle 140 may determine the fusion information of a set of lane units by fusing the first information and the second information of a set of lane units. In some embodiments, the second information is stored at the vehicle 140, and the fusion information is used to indicate whether a set of lane units allows parking.

[0050] Specifically, the cloud device 122 may determine a set of lane units within a preset distance range of the destination and may provide the first information regarding whether the set of lane units allows parking. In some embodiments, the distance from the set of lane units to the destination is less than a threshold.

[0051] In some embodiments, the cloud device 122 may send the first information and the identification information of the corresponding lane units to the vehicle 140. Correspondingly, after the vehicle 140 obtains the identification information of a set of lane units from the remote device, the vehicle 140 may determine the second information of a set of lane units from the lane unit information stored locally in the vehicle based on the identification information.

[0052] As an example, the parking attribute of the set of lane units indicated by the fusion information may be determined based on the first information. In addition, information such as the location, type, shape, etc. of the set of lane units in the second information may be fused into the fusion information.

[0053] Further, the vehicle 140 may, for example, utilize the vehicle-side computing unit 316 as shown in Figure 3 and determine at least one lane unit that allows parking based on the fusion information of a set of lane units.

[0054] Further, the vehicle 140 may determine at least one parking area from the space corresponding to at least one lane unit based on the environmental information associated with the destination. For example, the vehicle 140 may search for a space suitable for the vehicle 140 to park. For example, such a parking area requires a length and / or width greater than a threshold.

[0055] In some embodiments, the environmental information may be determined based on the high-precision map data, real-time map data, and / or perception data obtained by the vehicle 140, so as to detect whether the space corresponding to at least one lane unit is occupied.

[0056] Accordingly, vehicle 140 determines the parking position of the vehicle based on at least one parking area. For example, vehicle 140 may determine the parking area closest to the destination as the final parking position of the vehicle and may accordingly plan a parking path.

[0057] Based on the process described above, embodiments of the present disclosure can assist the vehicle in determining the parking position by querying the lane unit from a remote device when the vehicle approaches the destination.

[0058] Continuing to refer to Figure 2 , if it is determined in block 206 that the first information has not been obtained from the remote device, process 200 may proceed to block 210. In block 210, vehicle 140 may determine the parking position of the vehicle based on the second information of a set of lane units.

[0059] For example, in the case of a communication failure between vehicle 140 and the remote device, vehicle 140 may continue to use the locally stored lane unit data 312 to search for parking positions around the destination, thereby improving the reliability of the system.

[0060] Example devices and equipment

[0061] Figure 4 FIG. shows a schematic structural block diagram of a device 400 for determining a parking position according to some embodiments of the present disclosure. Device 400 may be implemented as or included in the terminal device 124, the cloud device 122, and / or the vehicle 140. Each module / component in device 400 may be implemented by hardware, software, firmware, or any combination thereof.

[0062] As shown in the figure, device 400 includes a query module 410 configured to query a remote device for a set of lane units associated with a destination in response to the distance from the vehicle to the destination being less than a threshold, where the lane unit corresponds to an area obtained by dividing a lane; and a parking module 420 configured to determine the parking position of the vehicle based on at least the first information of a set of lane units in response to obtaining the first information about a set of lane units from the remote device, the first information indicating whether a set of lane units allows parking.

[0063] In some embodiments, parking module 420 is further configured to: determine the fusion information of a set of lane units by fusing the first information and the second information of a set of lane units, the second information being stored at the vehicle; and determine the parking position of the vehicle based on the fusion information of a set of lane units.

[0064] In some embodiments, device 400 further includes a position determination module configured to: determine the parking position of the vehicle based on the second information of a set of lane units in response to not obtaining the first information from the remote device.

[0065] In some embodiments, the apparatus 400 further includes a matching module configured to: obtain identification information of a set of lane units from a remote device; and determine second information of the set of lane units from the lane unit information stored locally in the vehicle based on the identification information.

[0066] In some embodiments, the apparatus 400 further includes an updating module configured to: in response to the vehicle being started, update the second information of the set of lane units based on third information obtained from a remote device.

[0067] In some embodiments, the third information is generated in response to an update of high-precision map data.

[0068] In some embodiments, the first information of a set of lane units is determined based on at least: high-precision map data; navigation map data; real-time map data.

[0069] In some embodiments, the lane units are determined by dividing a lane based on a preset length.

[0070] In some embodiments, the distance of a set of lane units to a destination is less than a threshold.

[0071] In some embodiments, the parking module 420 is further configured to: determine at least one lane unit allowing parking based on the fusion information of a set of lane units; determine at least one parking area from the space corresponding to the at least one lane unit based on the environment information associated with the destination; and determine the parking position of the vehicle based on the at least one parking area.

[0072] In some embodiments, the environment information associated with the destination is determined based on at least one of: high-precision map data; real-time map data; perception data of the vehicle.

[0073] Figure 5 A block diagram of a computing device 500 is shown in which one or more embodiments of the present disclosure may be implemented. It should be understood that Figure 5 The computing device 500 shown is merely exemplary and should not constitute any limitation to the functions and scope of the embodiments described herein. Figure 5 The computing device 500 shown can be used to implement Figure 1 the terminal device 124, the cloud device 122, and / or the vehicle 140.

[0074] As Figure 5As shown, computing device 500 is in the form of a general-purpose computing device. The components of computing device 500 may include, but are not limited to, one or more processors or processing units 510, a memory 520, a storage device 530, one or more communication units 540, one or more input devices 550, and one or more output devices 560. The processing unit 510 may be a physical or virtual processor and is capable of performing various processes according to programs stored in the memory 520. In a multi-processor system, multiple processing units execute computer-executable instructions in parallel to enhance the parallel processing ability of computing device 500.

[0075] Computing device 500 generally includes multiple computer storage media. Such media can be any accessible media that can be obtained by computing device 500, including but not limited to volatile and non-volatile media, removable and non-removable media. The memory 520 may be volatile memory (such as registers, caches, random access memory (RAM)), non-volatile memory (such as read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory), or some combination thereof. The storage device 530 may be removable or non-removable media and may include machine-readable media, such as a flash drive, a magnetic disk, or any other media that can be used to store information and / or data (such as training data for training) and can be accessed within computing device 500.

[0076] Computing device 500 may further include additional removable / non-removable, volatile / non-volatile storage media. Although not shown in Figure 5 , a disk drive for reading from or writing to a removable, non-volatile magnetic disk (such as a "floppy disk") and an optical disk drive for reading from or writing to a removable, non-volatile optical disk may be provided. In these cases, each drive may be connected to a bus (not shown) by one or more data media interfaces. The memory 520 may include a computer program product 525 having one or more program modules that are configured to perform the various methods or actions of the various embodiments of the present disclosure.

[0077] The communication unit 540 enables communication with other computing devices via a communication medium. Additionally, the functions of the components of computing device 500 may be implemented in a single computing cluster or multiple computer machines that are capable of communicating via a communication connection. Thus, computing device 500 may operate in a networked environment using a logical connection with one or more other servers, network personal computers (PCs), or another network node.

[0078] The input device 550 can be one or more input devices, such as a mouse, a keyboard, a trackball, etc. The output device 560 can be one or more output devices, such as a display, a speaker, a printer, etc. The computing device 500 can also communicate with one or more external devices (not shown) as needed through the communication unit 540. The external devices such as a storage device, a display device, etc., communicate with one or more devices that enable a user to interact with the computing device 500, or communicate with any device (e.g., a network card, a modem, etc.) that enables the computing device 500 to communicate with one or more other computing devices. Such communication can be performed via an input / output (I / O) interface (not shown).

[0079] According to an exemplary implementation of the present disclosure, there is provided a computer-readable storage medium having computer-executable instructions stored thereon, wherein the computer-executable instructions are executed by a processor to implement the method described above. According to an exemplary implementation of the present disclosure, there is also provided a computer program product, the computer program product being tangibly stored on a non-transitory computer-readable medium and including computer-executable instructions, and the computer-executable instructions being executed by a processor to implement the method described above.

[0080] Aspects of the present disclosure are described herein with reference to the flowcharts and / or block diagrams of methods, apparatuses, devices, and computer program products implemented according to the present disclosure. It should be understood that each block of the flowcharts and / or block diagrams, and the combinations of blocks in the flowcharts and / or block diagrams, can be implemented by computer-readable program instructions.

[0081] These computer-readable program instructions can be provided to a processing unit of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine such that when these instructions are executed by the processing unit of the computer or other programmable data processing device, a device is produced that implements the functions / acts specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium, which causes a computer, a programmable data processing device, and / or other devices to work in a specific manner. Thus, the computer-readable medium storing the instructions includes a manufacture, which includes instructions for implementing various aspects of the functions / acts specified in one or more blocks of the flowchart and / or block diagram.

[0082] The computer-readable program instructions can be loaded onto a computer, other programmable data processing device, or other device, such that a series of operation steps are performed on the computer, other programmable data processing device, or other device to produce a computer-implemented process, so that the instructions executed on the computer, other programmable data processing device, or other device implement the functions / acts specified in one or more blocks of the flowchart and / or block diagram.

[0083] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various implementations of the present disclosure. In this regard, each block in the flowchart or block diagram may represent a module, a segment of a program, or a portion of an instruction, which contains one or more executable instructions for implementing the specified logical function. In some alternative implementations, the functions noted in the blocks may occur in a different order than noted in the accompanying drawings. For example, two consecutive blocks may actually be executed substantially in parallel, or they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented by a dedicated hardware-based system that performs the specified functions or actions, or by a combination of dedicated hardware and computer instructions.

[0084] The various implementations of the present disclosure have been described above. The above description is exemplary, not exhaustive, and is not limited to the disclosed implementations. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described implementations. The choice of terms used herein is intended to best explain the principles of the implementations, the practical application, or improvements to the technology in the market, or to enable other ordinary skilled artisans in the art to understand the various implementations disclosed herein.

Claims

1. A method for determining a parking position, comprising: In response to the distance of the vehicle to the destination being less than a threshold, query a remote device for a set of lane units associated with the destination, where a lane unit corresponds to an area obtained by dividing a lane; And In response to obtaining first information about the set of lane units from the remote device, determine the parking position of the vehicle based at least on the first information of the set of lane units, where the first information is used to indicate whether the set of lane units allows parking.

2. The method according to claim 1, wherein determining based at least on the first information of the set of lane units includes: Determine the fusion information of the set of lane units by fusing the first information and second information of the set of lane units, where the second information is stored at the vehicle; And Based on the fusion information of the set of lane units, determine the parking position of the vehicle.

3. The method according to claim 2, further comprising: In response to not obtaining the first information from the remote device, determine the parking position of the vehicle based on the second information of the set of lane units.

4. The method according to claim 2, further comprising: Obtain the identification information of the set of lane units from the remote device; And Based on the identification information, determine the second information of the set of lane units from the lane unit information locally stored in the vehicle.

5. The method according to claim 2, further comprising: In response to the vehicle being started, update the second information of the set of lane units based on third information obtained from the remote device.

6. The method according to claim 5, wherein the third information is generated in response to an update of high-precision map data.

7. The method according to claim 2, wherein determining the parking position of the vehicle based on the fusion information of the set of lane units includes: Based on the fusion information of the set of lane units, determine at least one lane unit that allows parking; Based on the environmental information associated with the destination, determine at least one parking area from the space corresponding to the at least one lane unit; And Based on the at least one parking area, determine the parking position of the vehicle.

8. The method according to claim 7, wherein the environmental information associated with the destination is determined based on at least one of the following: High-precision map data; Real-time map data; Perception data of the vehicle.

9. The method according to claim 1, wherein the first information of the set of lane units is determined based on at least the following: High-precision map data; Navigation map data; Real-time map data.

10. The method according to claim 1, wherein the lane unit is determined by dividing the lane based on a preset length.

11. The method according to claim 1, wherein the distance from the set of lane units to the destination is less than a threshold.

12. An apparatus for determining a parking position, comprising: A query module, configured to query a remote device for a set of lane units associated with the destination in response to a distance from the vehicle to the destination being less than a threshold, where a lane unit corresponds to an area obtained by dividing a lane; and A parking module, configured to determine a parking position of the vehicle at least based on first information of the set of lane units in response to obtaining the first information about the set of lane units from the remote device, where the first information is used to indicate whether parking is allowed in the set of lane units.

13. An electronic device, comprising: At least one processing unit; and At least one memory, the at least one memory being coupled to the at least one processing unit and storing instructions for execution by the at least one processing unit, the instructions, when executed by the at least one processing unit, causing the electronic device to perform the method according to any one of claims 1 to 11.

14. A computer-readable storage medium, having stored thereon a computer program, the computer program being executable by a processor to implement the method according to any one of claims 1 to 11.

15. A computer program product, comprising computer-executable instructions, wherein the computer-executable instructions, when executed by a processor, implement the method according to any one of claims 1 to 11.

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