Vehicle positioning method, device and system, vehicle and storage medium

Abstract

The invention provides a vehicle positioning method, device and system, a vehicle and a storage medium, and relates to the technical field of vehicles. The vehicle positioning method comprises the steps that an environment image around a vehicle is collected through a shooting device of the vehicle, and the environment image comprises a target pattern corresponding to a parking lot; determining relative position information of the target pattern and the vehicle according to the environment image; and determining the current position of the vehicle in the parking lot according to the relative position information and the target pattern. Therefore, the environment map is acquired through the shooting device on the vehicle, and the current position of the vehicle in the parking lot is determined according to the target pattern in the environment image, so that the positioning precision of the vehicle in the parking lot environment can be improved.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle technology, and more specifically, to a vehicle positioning method, device, system, vehicle, and storage medium. Background Art

[0002] Accurate vehicle positioning is necessary to achieve autonomous or assisted driving. For example, when driving in a parking lot, the dense concentration of vehicles and parking spaces requires even more accurate positioning. However, existing technologies for positioning in parking lots are limited in accuracy, and applications cannot meet the control precision required for autonomous or assisted driving. Therefore, improving vehicle positioning accuracy has become a pressing issue. Summary of the Invention

[0003] One object of the present disclosure is to provide a new technical solution for vehicle positioning.

[0004] According to a first aspect of an embodiment of the present disclosure, a vehicle positioning method is provided, which is applied to a vehicle, and the method includes:

[0005] Capturing an environmental image of the vehicle's surroundings using a camera device of the vehicle; wherein the environmental image includes a target pattern corresponding to the parking lot;

[0006] determining relative position information between the target pattern and the vehicle based on the environment image;

[0007] The current position of the vehicle in the parking lot is determined according to the relative position information and the target pattern.

[0008] Optionally, determining the current position of the vehicle in the parking lot according to the relative position information and the target pattern includes:

[0009] extracting map indication information corresponding to the parking lot and location information of the target pattern based on the target pattern;

[0010] determining a current map of the parking lot according to the map indication information;

[0011] The current position of the vehicle in the current map is determined according to the position information of the target pattern and the relative position information.

[0012] Optionally, the map indication information includes version information corresponding to the current map of the parking lot and server information for downloading the current map;

[0013] Determining the current map of the parking lot according to the map indication information includes:

[0014] When the version information of the current map of the parking lot is different from the version information of the parking lot map stored locally in the vehicle, the server used to download the current map is determined based on the server information, and all information or incremental information of the current map is downloaded from the server, and the parking lot map stored locally in the vehicle is updated to the current map.

[0015] Optionally, the shooting device includes a panoramic imaging system of the vehicle, the environmental image includes an image of a parking lot surface captured by the panoramic imaging system, and the target pattern includes a pattern deployed on the parking lot surface.

[0016] Optionally, the capturing of the environmental image of the vehicle's surroundings by a camera of the vehicle includes:

[0017] In response to receiving the control instruction, capturing an image of the environment around the vehicle by a camera of the vehicle;

[0018] The control instruction is a parking instruction for instructing the vehicle to automatically park, or a pick-up instruction for instructing the vehicle to automatically pick up the vehicle.

[0019] Optionally, after receiving the control instruction, the method further includes:

[0020] determining a target position according to the control instruction;

[0021] The vehicle is controlled to travel from a current position to a target position according to a current map of the parking lot.

[0022] Optionally, after determining the target position according to the control instruction, the method further includes:

[0023] Periodically executing the vehicle position update step;

[0024] Wherein, the vehicle position updating step includes:

[0025] In a case where the environment image currently captured by the photographing device includes a target pattern, updating the current position of the vehicle according to the target pattern; or,

[0026] In a case where the environment image currently captured by the shooting device does not include the target pattern, the current position of the vehicle is updated according to the driving speed and driving direction of the vehicle and the most recently acquired vehicle position.

[0027] Optionally, the control instruction is a parking instruction; and determining the target position according to the control instruction includes:

[0028] Acquiring parking space usage information of the parking lot according to the target pattern;

[0029] A target parking space where the vehicle can park is determined as the target position according to the parking space usage information, the current map, and the current position of the vehicle.

[0030] Optionally, after controlling the vehicle to travel from the current position to the target position, the method further includes:

[0031] Sending indication information that the target parking space is occupied to a server so that the server updates parking space usage information of the parking lot.

[0032] Optionally, determining a target parking space available for parking as the target location based on the parking space usage information, the current map, and the current location of the vehicle includes:

[0033] When the vehicle needs to be charged, determining a charging space in the parking lot according to a current map of the parking lot;

[0034] A rechargeable parking space where the vehicle can be parked is determined as the target location based on the parking space usage information, the current map, and the current location of the vehicle.

[0035] Optionally, after controlling the vehicle to travel from the current position to the target position, the method further includes:

[0036] Sending charging service request information to a server so that the server notifies the parking lot staff to charge the vehicle.

[0037] Optionally, the control instruction is a vehicle pickup instruction, and the vehicle pickup instruction includes a vehicle pickup location; and determining the target location according to the control instruction includes:

[0038] The vehicle pickup location in the vehicle pickup instruction is used as the target location.

[0039] Optionally, after receiving the control instruction, the method further includes:

[0040] After the vehicle is controlled to drive out of the occupied target parking space, indication information indicating that the target parking space is released is sent to the server so that the server can update the parking space usage information of the parking lot.

[0041] Optionally, there are multiple target patterns, each of which is respectively deployed at at least one of a parking space, an exit position, and an entrance position of the parking lot, and different target patterns correspond to different location information.

[0042] Optionally, the target pattern is a QR code and / or a barcode.

[0043] According to a second aspect of an embodiment of the present disclosure, a vehicle positioning method is provided, which is applied to a server. The method includes:

[0044] In response to a download request from a vehicle, a current map of the parking lot is sent to the vehicle so that the vehicle updates a locally stored parking lot map; wherein the download request is a download request sent by the vehicle to a server based on a captured target pattern.

[0045] Optionally, the method further includes:

[0046] The parking space usage information of the parking lot is sent to the vehicle.

[0047] Optionally, the method further includes:

[0048] Receive indication information sent by the vehicle indicating that the target parking space is occupied or released, so as to update the parking space usage information of the parking lot.

[0049] According to a third aspect of an embodiment of the present disclosure, a vehicle positioning device is provided, comprising a memory and a processor, wherein the memory is used to store computer instructions, and the processor is used to call the computer instructions from the memory to execute the method as described in any one of the first aspect or the second aspect.

[0050] According to a fourth aspect of an embodiment of the present disclosure, a vehicle positioning system is provided, the vehicle positioning system comprising a vehicle, a client, and a server; wherein:

[0051] The vehicle is used to perform any one of the optional vehicle positioning methods described in the first aspect;

[0052] The server is used to execute any one of the optional vehicle positioning methods described in the second aspect.

[0053] According to a fifth aspect of an embodiment of the present disclosure, a vehicle is provided, wherein the vehicle is used to execute any one of the optional vehicle positioning methods described in the first aspect.

[0054] According to a sixth aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the method as described in any one of the first aspect or the second aspect is implemented.

[0055] By adopting the above technical solution, the environmental map can be collected by the shooting device on the vehicle, and the current position of the vehicle in the parking lot can be determined according to the target pattern in the environmental image, thereby improving the positioning accuracy of the vehicle in the parking lot environment.

[0056] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0058] Figure 1 Schematic diagram of a vehicle positioning system provided according to an embodiment of the present disclosure.

[0059] Figure 2 It is a schematic diagram of a parking lot provided according to an embodiment of the present disclosure.

[0060] Figure 3 It is a schematic diagram of the field of view coverage of a vehicle AVM system provided according to an embodiment of the present disclosure.

[0061] Figure 4 It is a flowchart of a vehicle positioning method provided according to an embodiment of the present disclosure.

[0062] Figure 5 It is a flowchart of an automatic parking method provided according to an embodiment of the present disclosure.

[0063] Figure 6 It is a flowchart of an automatic vehicle retrieval method provided according to an embodiment of the present disclosure.

[0064] Figure 7 It is a flowchart of a vehicle positioning method provided according to an embodiment of the present disclosure.

[0065] Figure 8 It is a flowchart of a vehicle positioning method provided according to an embodiment of the present disclosure.

[0066] Figure 9 It is a flowchart of a vehicle positioning method provided according to an embodiment of the present disclosure.

[0067] Figure 10 It is a structural schematic diagram of a vehicle positioning device provided according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0068] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present disclosure.

[0069] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0070] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the above-mentioned technologies, methods, and equipment should be considered part of the specification.

[0071] In all examples shown and discussed herein, any specific values should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0072] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0073] First, the application scenarios of the present disclosure are described. The embodiments of the present disclosure can be applied to autonomous driving or assisted driving scenarios, especially scenarios where precise positioning of a vehicle is required in a parking lot, such as automatic parking or automatic vehicle retrieval.

[0074] As an application of the Advanced Driving Assistance System (ADAS) in parking scenarios, Automated Valet Parking (AVP) is the starting and ending point of the Advanced Driving Assistance System, starting with automated vehicle pickup (also known as Smart Summon) and ending with automated parking. AVP solves the "last mile" problem for users, offering low speeds and no passengers in the vehicle. In parking lot applications, it also features low pedestrian traffic, simple road conditions, and a low risk factor.

[0075] The automatic car pickup function may include: the user sends a car pickup instruction through a mobile phone terminal, and the vehicle needs to automatically drive from the parking location to the designated location to pick up the driver after receiving the pickup instruction.

[0076] The automatic parking function may include: the user gets off the vehicle at or near the parking lot entrance, sends a parking instruction through the mobile terminal, and after receiving the parking instruction, the vehicle automatically drives to the designated parking space in the parking lot or automatically searches for an available parking space and parks in the parking space after entering the parking lot area, without the need for user monitoring and intervention.

[0077] The implementation of AVP functions involves multiple technologies such as perception, positioning, planning and control, and high-precision maps. Among them, positioning accuracy is a key indicator affecting AVP performance.

[0078] In an alternative implementation, a parking lot-based AVP system can be used for vehicle positioning. This system relies on various pre-configured sensors on the parking lot to locate the vehicle, and transmits the vehicle's real-time location, calculated and analyzed by cloud computing, to the vehicle via a signal base station. However, this parking lot-based AVP system requires the parking lot to be equipped with a large number of various hardware devices, such as cameras, lidar, and data signal base stations. These devices must be arranged in a way that avoids blind spots in order to accurately locate the vehicle. This results in very high construction and operating costs for the parking lot.

[0079] In another optional implementation, the vehicle can be positioned based on an AVP system that is based on vehicle-side perception. The vehicle is positioned using on-board sensors and pre-stored high-precision maps of parking lots. The on-board sensors perceive the environment and match feature information with high-precision maps to determine the vehicle's own position. In an AVP system based on vehicle-side perception, high-precision map information of parking lots needs to be pre-stored inside the vehicle. The vehicle's own positioning is completed by analyzing the features of the surrounding environment through on-board sensors and comparing them with high-precision maps. However, on the one hand, the data storage space on the vehicle side is limited, and it is impossible to store high-precision map information of all parking lots. On the other hand, when the parking lot changes (such as parking lot construction, temporary lane occupation, etc.), and the high-precision map on the vehicle side is not updated, it may mislead the vehicle. Moreover, since the structures of different parking lots are similar and the degree of homogeneity is high, errors may occur during feature comparison, resulting in the selection of the wrong parking lot map.

[0080] In another optional implementation, vehicle positioning can be performed based on the AVP system of vehicle-road collaboration, combining the characteristics of the above two solutions to improve the robustness of vehicle positioning. In the vehicle-road collaboration solution, a certain degree of compromise is made to the needs of both parties, such as reducing the hardware complexity required for field perception, reducing the requirements of the vehicle side for high-precision maps, and using simultaneous localization and mapping (SLAM) technology to map the environment. However, the defects of the first two have not been fundamentally improved, and the problem of poor accuracy and time-consuming SLAM mapping has also been introduced.

[0081] The disclosed embodiments provide a vehicle positioning method that uses a camera mounted on a vehicle to capture an environmental map. The method then determines the current parking lot map and the vehicle's current position within the parking lot map based on target patterns within the environmental image, thereby improving vehicle positioning accuracy. Furthermore, since the camera already installed on the vehicle is utilized, no additional hardware is required in the parking lot, enabling high-precision vehicle positioning at a low cost.

[0082] Figure 1FIG. 1 is a schematic diagram of a vehicle positioning system according to an embodiment of the present disclosure. Figure 1 As shown, the vehicle positioning system 100 may include a vehicle 101 , a client 102 and a server 103 .

[0083] The vehicle 101 can communicate with the client 102 and the server 103 via a wireless network. The wireless network can include at least one of the following: a 3G network, a 4G network, a 5G network, a Wi-Fi network, a Bluetooth connection, etc. Optionally, the client 102 and the server 103 can also communicate via a wireless network and / or a wired network.

[0084] The vehicle 101 may be a vehicle with an AVP function. For example, the vehicle may be equipped with an ADAS, and the AVP function may be implemented based on the ADAS.

[0085] The client 102 may be a client corresponding to the vehicle 101, used to obtain vehicle-related information or control the vehicle. For example, the client may be an electronic device such as a mobile terminal or a PC, which may be installed with a vehicle app, through which the vehicle-related information can be obtained or commands can be sent to the vehicle. Alternatively, the client may be installed on the vehicle or detached from the vehicle.

[0086] The server 103 may store relevant information about the parking lot, such as the current map of the parking lot (which may be a high-precision map), parking space usage information of the parking lot, etc. The current map of the parking lot stored in the server is the latest map of the parking lot and can be updated in a timely manner according to the actual situation of the parking lot. For example, if part of the parking lot is inaccessible and cannot be parked due to a malfunction or maintenance, the current map of the parking lot can be updated in a timely manner. Similarly, the parking space usage information stored in the server can also be updated in a timely manner when a parking space is occupied or released. The server can also send relevant information about the parking lot to the vehicle and / or the client. For example, a high-precision map of the parking lot can be sent to the vehicle so that the vehicle can update the high-precision map of the parking lot.

[0087] Although Figure 1 The vehicle positioning system is schematically shown using a vehicle, a client, and a server, but it is understandable that the vehicle positioning system may also include one or two of the vehicle, the client, and the server, for example, it may only include the vehicle and the server; the vehicle positioning system may also include other equipment (such as parking lot management equipment, etc.).

[0088] Figure 22 is a schematic diagram of a parking lot according to an embodiment of the present disclosure. The parking lot may be deployed with one or more target patterns 201, each of which may be deployed at at least one of the following locations: a parking space, an exit, an entrance, or other key locations within the parking lot. For example, a target pattern may be deployed on the ground floor of each parking space, or at the exit, entrance, or other key locations within the parking lot. The target pattern may also be deployed outside the parking lot, such as near traffic markings leading into the parking lot.

[0089] In some embodiments, different target patterns can correspond to different location information. For example, a target pattern deployed in parking space A can correspond to the location information of parking space A, while a target pattern deployed in parking space B can correspond to the location information of parking space B. In this way, by deploying multiple target patterns corresponding to different location information in a parking lot, the positioning accuracy of vehicles in the parking lot can be improved.

[0090] In some embodiments, the target pattern may be a QR code and / or a bar code. For example, the target pattern may be a QR code, through which parking lot related information may be extracted. Figure 2 In the example, the target pattern is a QR code, but the target pattern can also be in other forms, so that parking lot related information can be extracted based on the target pattern. The target pattern can also be called a feature pattern, a parking lot pattern, a parking space pattern, etc.

[0091] The target pattern can be used to obtain parking lot-related information. For example, when a vehicle passes through the target pattern, at least one of the following information can be extracted:

[0092] Information 1: Map indication information corresponding to the parking lot: such as version information corresponding to the current map of the parking lot and / or information about the server used to download the current map. The current map of the parking lot can be determined through the map indication information;

[0093] Information 2: Target pattern location information: such as the target pattern's location coordinates in the current map of the parking lot. Different target patterns may correspond to different location information, so that more accurate positioning can be achieved through the target pattern.

[0094] Information 3: Parking space usage information corresponding to the parking lot: can also be called real-time information on the site, for example, it may include one or more of the following information: whether there are available parking spaces in the parking lot, the location of available parking spaces, whether charging is possible, the location of charging spaces, etc.

[0095] The target pattern can be sprayed or pasted on the ground of the parking lot, such as Figure 2 As shown, when the front of the vehicle is facing out of the parking space, the target pattern to be sprayed or pasted can be uniformly located at the upper left corner of the parking space.

[0096] In some embodiments, the vehicle 101 may be equipped with a camera that can capture images of the vehicle's surroundings. For example, the camera can be an around-view monitor (AVM) system composed of one or more cameras, which can capture images of the vehicle's surroundings.

[0097] When vehicle 101 is driving on the road inside the parking lot, existing camera equipment (such as a panoramic imaging system) can be used to scan the target patterns in the parking spaces on both sides. Information extraction algorithms (such as a QR code parsing algorithm) can then be used to parse the target patterns to obtain information such as a map indicating the parking lot, the target pattern's location, and parking space usage information. Furthermore, high-precision positioning information of the vehicle in the parking lot can be calculated.

[0098] Figure 3 FIG. 1 is a schematic diagram of a vehicle AVM system field of view coverage according to an embodiment of the present disclosure. Figure 3 As shown, the vehicle 101 may include an AVM system, which may include four cameras (such as Figure 3 The front, rear, left, and right cameras (shown) capture views of the vehicle's front, rear, left, and right sides, respectively, and provide a panoramic view of the vehicle's surroundings. This AVM system provides clear, 360-degree imaging of the ground within close proximity of the vehicle. As the vehicle drives through the parking lot, it can capture the aforementioned target patterns, pre-placed within the parking lot, in real time.

[0099] Figure 4 This is a flow chart of a vehicle positioning method provided according to an embodiment of the present disclosure. The vehicle positioning method can be Figure 1 The vehicle shown performs as Figure 4 As shown, the vehicle positioning method of this embodiment may include the following steps S4100 to S4300.

[0100] Step S4100: Capture environmental images of the vehicle's surroundings through the vehicle's camera.

[0101] The environment image may include a target pattern corresponding to the parking lot. The target pattern may be as follows: Figure 3For example, a parking lot can deploy one or more target patterns, each of which can be deployed at at least one of the parking spaces, exits, entrances, or other key locations in the parking lot. For a detailed description of the target patterns, please refer to the description of the aforementioned embodiments of this disclosure and will not be repeated here.

[0102] In some embodiments, in response to receiving a control instruction sent by a client corresponding to the vehicle, an environmental image around the vehicle can be collected by a camera of the vehicle.

[0103] Among them, the control instruction can be of multiple types. For example, the control instruction can be a parking instruction for instructing the vehicle to park automatically, or the control instruction can be a pick-up instruction for instructing the vehicle to pick up the vehicle automatically, or the control instruction can be a positioning instruction for initiating positioning, etc.

[0104] For example, a user can send control instructions such as parking instructions, pick-up instructions, or positioning instructions to the vehicle through the client. In response to the received control instructions, the vehicle can start a shooting device such as an AVM to capture environmental images around the vehicle to execute the vehicle positioning method provided in the embodiment of the present disclosure.

[0105] In other embodiments, the vehicle may also automatically turn on the camera to capture images of the vehicle's surroundings to perform the vehicle positioning method provided by the embodiments of the present disclosure. For example, the vehicle may automatically turn on the camera to capture images of the vehicle's surroundings upon entering a parking lot.

[0106] Step S4200: Determine relative position information between the target pattern and the vehicle based on the environment image.

[0107] For example, the camera can be installed at a fixed position on the vehicle. The first relative position information (such as distance and direction) between the camera and the center of the vehicle can be determined based on the installation position of the camera, and the second relative position information (such as distance and direction) between the camera and the target pattern can be determined based on the environmental image. In this way, the relative position information between the target pattern and the center of the vehicle can be determined based on the first relative position information and the second relative position information, for example, the three-dimensional coordinates of the center of the vehicle relative to the target pattern can be calculated.

[0108] It should be noted that the vehicle may also determine the relative position information between the target pattern and the vehicle in other ways, such as by using the spatial positioning function of the AVM system to determine the relative position information, which is not limited in the present embodiment.

[0109] Step S4300: Determine the current position of the vehicle in the parking lot based on the relative position information and the target pattern.

[0110] For example, the position information of the target pattern can be extracted based on the target pattern. Since the position information of the target pattern is a pre-set precise position, the current position of the vehicle in the parking lot can be accurately obtained based on the relative position information and the position information of the target pattern. In this way, the positioning accuracy can be improved with the assistance of the target pattern. For example, the positioning accuracy can be improved to the centimeter level.

[0111] By adopting the technical solution of steps S4100 to S4300 above, using the camera on the vehicle and combining it with the target pattern deployed in the parking lot, the current position of the vehicle in the current map of the parking lot can be determined, thereby improving the vehicle positioning accuracy.

[0112] In some embodiments, the above-mentioned shooting device may include a vehicle's panoramic imaging system AVM, the above-mentioned environmental image may include a parking lot ground image captured by the AVM, and the above-mentioned target pattern may include a pattern deployed on the parking lot ground.

[0113] In this way, the AVM panoramic imaging system currently configured on the vehicle can be fully utilized, reducing the difficulty of solution deployment and also reducing hardware and maintenance costs.

[0114] In some embodiments, the above step S4300 may include the following sub-steps S4301 to S4303:

[0115] Step S4301 : extracting map indication information corresponding to the parking lot and location information of the target pattern based on the target pattern.

[0116] The map indication information may be used to determine the current map of the parking lot. The location information of the target pattern may be the location coordinates of the target pattern in the current map of the parking lot, so that the vehicle can determine its own location based on the location coordinates.

[0117] Step S4302: Determine the current map of the parking lot according to the map indication information.

[0118] The current map may be the latest map of the parking lot, such as the latest map stored in a parking lot server. The current map may be a high-definition map.

[0119] In some embodiments, the map indication information may include version information corresponding to the current map of the parking lot and / or server information used to download the current map.

[0120] Among them, the version information may include the version number and / or timestamp of the map. For example, the current map of the parking lot stored on the server is the V2 version generated or updated at 8:05 on May 1, 2024. The timestamp may be the generation time of the current map of the parking lot (i.e., 8:05 on May 1, 2024), and the version number may be V2.

[0121] The server information may be used to determine Figure 1 The information of the server shown may include, for example, at least one of the network address, network link, domain name, IP address or MAC address for accessing the server. The vehicle can determine the corresponding server through the server information and communicate with the server.

[0122] In one implementation, the vehicle may compare the version information of the map stored on the server with the version information of the map stored locally in the vehicle to determine whether the parking map stored locally in the vehicle is the latest map. If not, the parking map stored locally in the vehicle is updated.

[0123] For example, if the version information of the current parking lot map is different from the version information of the parking lot map stored locally in the vehicle, the server used to download the current map is determined based on the server information, and the full information or incremental information of the current map is downloaded from the server, and the parking lot map stored locally in the vehicle is updated to the current map. For example, the vehicle's on-board wireless communication system can communicate with the signal base station hardware in the parking lot (which can be 5G, 4G, Wi-Fi, Bluetooth, UWB, etc.) to perform a global update or incremental update of the locally stored map.

[0124] For another example, when the version information of the current parking lot map is the same as the version information of the parking lot map stored locally in the vehicle, the parking lot map stored locally in the vehicle can be directly used as the current parking lot map without downloading.

[0125] In another implementation, the vehicle can also download the current map of the parking lot directly from the server. For example, if the vehicle does not store any map of the parking lot locally, the current map of the parking lot can be downloaded directly from the server.

[0126] In this way, when the current map of the parking lot stored on the server is updated in a timely manner, the vehicle can obtain the latest map of the parking lot according to the target pattern, avoiding positioning or route planning errors caused by failure to update the map in a timely manner.

[0127] Furthermore, when the parking lot is large or only part of the HD map needs to be updated, downloading the entire HD map consumes more time and storage space. By downloading all the information of the current map, the HD map can be incrementally updated to improve system efficiency.

[0128] Step S4303: Determine the current position of the vehicle in the current map based on the position information of the target pattern and the above relative position information.

[0129] In this way, the current map of the parking lot can be determined based on the target pattern, and the current position of the vehicle in the current map can be determined, thereby improving the positioning accuracy of the vehicle in the parking lot.

[0130] In some embodiments of the present disclosure, when the vehicle captures environmental images around the vehicle through a camera of the vehicle in response to receiving a control instruction sent by a client, the method may further include the following steps S4500 and S4600.

[0131] Step S4500: Determine the target position according to the control instruction.

[0132] The target location may be an empty target parking space, the user's location, or a parking lot exit location.

[0133] Step S4600: Control the vehicle to travel from the current position to the target position according to the current map of the parking lot.

[0134] For example, the vehicle's planning and control system can plan a driving path based on the current map of the parking lot, the vehicle's current location, and the target location, obtain the target path, and control the vehicle to travel to the target location based on the target path.

[0135] The above steps S4500 and S4600 can be executed after the vehicle receives the control instruction.

[0136] In this way, the vehicle can be controlled to travel from the current position to the target position based on the control instructions, thereby improving the reliability of the vehicle's automatic driving in the parking environment based on high-precision positioning information.

[0137] In some embodiments, after determining the target position according to the above control instructions, a vehicle position updating step may also be performed periodically;

[0138] The vehicle position updating step may include:

[0139] In the case where the environment image currently captured by the camera includes a target pattern, updating the current position of the vehicle according to the target pattern; or,

[0140] In the case that the environment image currently captured by the shooting device does not include the target pattern, the current position of the vehicle is updated according to the driving speed and driving direction of the vehicle and the most recently acquired vehicle position.

[0141] Optionally, the above vehicle position updating step may be performed periodically during the process of controlling the vehicle to travel from the current position to the target position.

[0142] In this way, the accuracy and reliability of vehicle control can be improved by periodically updating the vehicle position.

[0143] In some embodiments, the above method may further include: sending the current location of the vehicle to a client corresponding to the vehicle.

[0144] For example, after determining the current position of the vehicle in the parking lot in step S4300, the current position may be sent to the client. For another example, after periodically performing the vehicle position update step, the updated current position of the vehicle may be sent to the client.

[0145] In this way, the client can obtain the current location of the vehicle and display the current location to the user so that the user can know the location information of the vehicle in a timely manner, thereby improving the user experience.

[0146] In some embodiments, the above-mentioned control instruction may be a parking instruction; in an automatic parking scenario, the implementation method of the above-mentioned step S4500 may include: obtaining parking space usage information of the parking lot according to the target pattern; determining the target parking space where parking can be parked as the target position according to the parking space usage information, the current map and the current position of the vehicle.

[0147] For example, a server corresponding to a parking lot may be determined based on the target pattern, and the vehicle may interact with the server to obtain parking space usage information (such as parking space occupancy or parking space vacancy) of the parking lot.

[0148] In this way, in the automatic parking scenario, the vehicle can determine the target parking space where it can be parked as the target position based on the parking instructions sent by the client and the parking space usage information of the parking lot, and improve the vehicle positioning accuracy based on the target pattern, thereby improving the reliability of automatic parking of the vehicle in the parking lot environment.

[0149] Furthermore, when the vehicle is controlled to travel to the target parking space, indication information indicating that the target parking space is occupied may be sent to the server so that the server can update the parking space usage information of the parking lot.

[0150] In this way, the real-time occupancy information of parking spaces in the parking lot can be updated without the need for additional on-site hardware, making it easier for other vehicles to find vacant parking spaces.

[0151] Optionally, the parking lot can also provide rechargeable parking spaces and charging services. When a vehicle needs to charge, the rechargeable parking spaces in the parking lot are determined based on the current map of the parking lot; and the rechargeable parking spaces that can be parked are determined as the target locations based on the parking space usage information, the current map and the current location of the vehicle.

[0152] The rechargeable parking space may be a parking space equipped with a charging device. Information about the rechargeable parking space may also be obtained from a server. For example, the real-time information obtained by the vehicle from the server may include parking space usage information in the parking lot, such as whether there are available parking spaces in the parking lot, the location of available parking spaces, whether charging is possible, and the location of the rechargeable parking spaces.

[0153] In this way, it is convenient for vehicles to find charging spaces for charging.

[0154] Furthermore, when the vehicle is controlled to travel to a chargeable parking space, a charging service request message is sent to the server so that the server notifies the parking lot staff to charge the vehicle.

[0155] In this way, valet charging service can be realized.

[0156] In other embodiments, the above-mentioned control instruction may be a vehicle pickup instruction, which may include a vehicle pickup location; in an automatic vehicle pickup scenario, the implementation method of the above-mentioned step S4500 may include: using the vehicle pickup location in the vehicle pickup instruction as the target location.

[0157] The pickup location may be the pickup location sent by the client to the vehicle. The client may determine the pickup location in the pickup instruction by at least one of the following methods:

[0158] Method 1: Determine the pick-up location based on the user's input or selection on the client.

[0159] For example, the user selects a pick-up location (also called a pickup location) in a parking lot map on the client, and sends a pick-up instruction containing the pick-up location to the vehicle.

[0160] Method 2: Use the current location of the client as the pick-up location.

[0161] For example, the client may be installed with a positioning device (such as GPS, etc.), and based on the positioning device, the current location of the client may be determined as the vehicle pickup location.

[0162] Method 3: Photograph the target pattern of the parking lot and determine the pick-up location based on the location information of the target pattern.

[0163] For example, if the user is not sure about his or her own location, he or she can also use the client to scan nearby target patterns to obtain the location information of the target patterns. The location of the target patterns can be used to assist in positioning, thereby determining the pick-up location.

[0164] In this way, in the automatic vehicle retrieval scenario, the vehicle can determine the vehicle retrieval location, and the vehicle positioning accuracy is improved based on the target pattern, thereby improving the reliability of automatic vehicle retrieval in the parking environment.

[0165] In one implementation, in an automatic vehicle pickup scenario, after the vehicle is controlled to drive out of the occupied target parking space, an indication that the target parking space is released may be sent to the server so that the server can update the parking space usage information of the parking lot.

[0166] In one implementation, in an automatic vehicle pickup scenario, when the vehicle is controlled to drive to the pickup location, a notification message can be sent to the client corresponding to the vehicle to inform the user that the vehicle has arrived at the pickup location. Optionally, the vehicle can also activate a welcome mode to remind the user to get on the vehicle.

[0167] This makes it easier for users to determine when the vehicle arrives at the designated pick-up location, improving user experience.

[0168] Figure 5 FIG. 1 is a flow chart of an automatic parking method according to an embodiment of the present disclosure. The automatic parking method can be executed by a vehicle, such as Figure 5 As shown, the method of this embodiment may include the following steps S5100 to S5500.

[0169] Step S5100: receiving a parking instruction sent by the client.

[0170] For example, a user (such as a vehicle driver) can park the vehicle at any location near or inside the parking lot, and then use the client to send a parking instruction to the vehicle. The vehicle can accept the parking instruction sent by the client.

[0171] Step S5200: Capture environmental images of the vehicle's surroundings through the vehicle's camera.

[0172] The specific implementation of this step can refer to the disclosure Figure 4 The description of step S4100 in the illustrated embodiment will not be repeated here.

[0173] For example, after receiving the above parking instruction, the vehicle can activate the Advanced Driver Assistance Systems (ADAS) and the on-board panoramic imaging system. While the ADAS system controls the vehicle, the panoramic imaging system is used to collect environmental images of the surrounding ground.

[0174] Step S5300: Determine the relative position information between the target pattern and the vehicle based on the environment image.

[0175] The specific implementation of this step can refer to the disclosure Figure 4 The description of step S4200 in the illustrated embodiment will not be repeated here.

[0176] Step S5400: Determine the current position of the vehicle in the parking lot based on the relative position information and the target pattern.

[0177] The specific implementation of this step can refer to the disclosure Figure 4 The description of step S4300 in the illustrated embodiment will not be repeated here.

[0178] For example, step S5400 may include the following steps S5401 to S5403:

[0179] Step S5401: Acquire map indication information corresponding to the parking lot and location information of the target pattern according to the target pattern in the environment image.

[0180] The specific implementation of this step can refer to the description of step S4301 in the aforementioned embodiment of the present disclosure, and will not be repeated here.

[0181] For example, the vehicle can use a pattern information extraction algorithm on the collected environmental image to extract the target pattern, and further obtain the current vehicle positioning information, the latest parking lot high-precision map acquisition method (which can be the map version number, map download address, etc.) and real-time information on the site (whether there are available parking spaces in the parking lot, the location of the available parking spaces, whether charging is possible, etc.).

[0182] Step S5402: Determine the current map of the parking lot according to the map indication information.

[0183] The specific implementation of this step can refer to the description of step S4302 in the aforementioned embodiment of the present disclosure, and will not be repeated here.

[0184] For example, the vehicle will compare the acquired high-precision map information (map timestamp, version number, etc.) with the local high-precision map to determine whether the high-precision map needs to be updated. If necessary, the vehicle will communicate with the server through the on-board wireless communication system based on the signal base station hardware in the parking lot (which can be 5G, 4G, Wi-Fi, Bluetooth, UWB, etc.) to perform a global or incremental update of the map; if no update is required, no operation will be performed.

[0185] Step S5403: Determine the current position of the vehicle in the current map based on the position information of the target pattern and the above relative position information.

[0186] The specific implementation of this step can refer to the description of step S4303 in the aforementioned embodiment of the present disclosure, and will not be repeated here.

[0187] Step S5500: Control the vehicle to travel from the current position to the target position according to the current map of the parking lot.

[0188] The target location may be an empty target parking space.

[0189] For example, the vehicle-side planning and control system plans the driving path and directs the vehicle to the target parking spot based on acquired high-precision maps and parking space occupancy information. This process continuously updates the vehicle's latest position in the parking lot. If the vehicle cannot detect the characteristic pattern, it can estimate its position based on the last detected position information and information from the IMU or wheel speedometer.

[0190] Step S5600: When the vehicle is controlled to travel to the target parking space, an indication message indicating that the target parking space is occupied is sent to the server so that the server can update the parking space usage information of the parking lot.

[0191] For example, after the vehicle completes parking, the last acquired vehicle location information is uploaded through the parking lot's internal signal base station, and the parking space status is marked as occupied to the site server. Users can query the parking lot map and the vehicle parking location through their mobile terminals.

[0192] By adopting the above approach, in an automatic parking scenario, the vehicle positioning accuracy is improved based on the target pattern, thereby improving the reliability of automatic parking of the vehicle in a parking lot environment.

[0193] Figure 6 This is a flow chart of an automatic vehicle pickup method according to an embodiment of the present disclosure. The automatic vehicle pickup method can be executed by the vehicle, such as Figure 6 As shown, the method of this embodiment may include the following steps S6100 to S6500.

[0194] Step S6100: Receive the vehicle pickup instruction sent by the client.

[0195] For example, the user selects a pickup location (also known as a pick-up location) on the parking map on their mobile phone and sends a pickup instruction to the vehicle. Alternatively, if the user is not sure of their location, they can use their mobile phone to scan a nearby positioning QR code to locate the phone and determine the pickup location at the current location of the mobile phone as the pickup location.

[0196] Step S6200: Capture environmental images of the vehicle's surroundings through the vehicle's camera.

[0197] The specific implementation of this step can refer to the disclosure Figure 4 The description of step S4100 in the illustrated embodiment will not be repeated here.

[0198] For example, after receiving the pick-up instruction, the vehicle can turn on the onboard panoramic imaging system and scan the target pattern pasted or printed on the parking space.

[0199] Step S6300: Determine the relative position information between the target pattern and the vehicle based on the environment image.

[0200] The specific implementation of this step can refer to the disclosure Figure 4 The description of step S4200 in the illustrated embodiment will not be repeated here.

[0201] Step S6400: Determine the current position of the vehicle in the parking lot based on the relative position information and the target pattern.

[0202] The specific implementation of this step can refer to the disclosure Figure 4 The description of step S4300 in the illustrated embodiment will not be repeated here.

[0203] For example, step S6400 may include the following steps S6401 to S6403:

[0204] Step S6401: Obtain map indication information corresponding to the parking lot and location information of the target pattern according to the target pattern in the environment image.

[0205] The specific implementation of this step can refer to the description of step S4301 in the aforementioned embodiment of the present disclosure, and will not be repeated here.

[0206] For example, the vehicle can parse the latest high-precision map information of the parking lot and the positioning information of the parking space based on the target pattern.

[0207] Step S6402: Determine the current map of the parking lot based on the map indication information.

[0208] The specific implementation of this step can refer to the description of step S4302 in the aforementioned embodiment of the present disclosure, and will not be repeated here.

[0209] For example, the vehicle can compare the timestamp of the high-precision map obtained through parsing with the timestamp of the high-precision map of the vehicle itself. If the local map is not the latest, the local map can be globally or incrementally updated through the field signal transmission hardware according to the method for obtaining the high-precision map obtained through parsing.

[0210] Step S6403: Determine the current position of the vehicle in the current map based on the position information of the target pattern.

[0211] The specific implementation of this step can refer to the description of step S4303 in the aforementioned embodiment of the present disclosure, and will not be repeated here.

[0212] Step S6500: Control the vehicle to travel from the current position to the target position according to the current map of the parking lot.

[0213] The target location may be the vehicle pickup location in the vehicle pickup instruction.

[0214] For example, the vehicle plans the optimal route based on the latest high-precision map, its own positioning information, and the location of the pickup vehicle, and enters autonomous driving mode. Optionally, the vehicle can also send parking space release information to the server, so that the server can update the real-time occupancy status of parking spaces.

[0215] Optionally, while the vehicle is heading to the designated pick-up location, it can use a camera (such as a panoramic imaging system) to collect ground image information along the way, thereby extracting target patterns in the surrounding parking spaces to obtain its latest position. At the same time, the vehicle will also send its current position to the server and / or client, and the user can query the current position of the vehicle in real time through the client.

[0216] Optionally, when the vehicle arrives at the designated pick-up location, it can send an arrival signal to the user's mobile terminal and turn on the welcome mode to remind the user to get on the vehicle.

[0217] By adopting the above method, in the automatic vehicle retrieval scenario, the vehicle positioning accuracy is improved based on the target pattern, thereby improving the reliability of automatic vehicle retrieval in a parking lot environment.

[0218] Figure 7 This is a flow chart of a vehicle positioning method provided according to an embodiment of the present disclosure. The vehicle positioning method can be Figure 1 The client execution shown is as follows Figure 7 As shown, the vehicle positioning method of this embodiment may include:

[0219] Step S7100: Send control instructions to the vehicle.

[0220] Among them, the control instruction can instruct the vehicle to capture the environmental image around the vehicle through the vehicle's camera device, and determine the current map corresponding to the parking lot and the current position of the vehicle in the current map based on the target pattern in the environmental image. The target pattern includes the map indication information of the parking lot and the location information of the target pattern.

[0221] Optionally, the control instruction may be a parking instruction for instructing the vehicle to automatically park, or a pick-up instruction for instructing the vehicle to automatically pick up the vehicle.

[0222] By adopting the above technical solution, the vehicle can be instructed through control instructions to use the target pattern of the parking lot deployment captured by the shooting device to determine the current map of the parking lot and the current position of the vehicle in the current map of the parking lot, thereby improving the vehicle positioning accuracy.

[0223] In some embodiments, the control instruction is a vehicle pickup instruction for instructing the vehicle to automatically pick up the vehicle; the method may further include:

[0224] Step S7200: Determine the vehicle pickup location in the vehicle pickup instruction by at least one of the following methods.

[0225] Method 1: Determine the pick-up location based on the user's input or selection on the client.

[0226] Method 2: Use the current location of the client as the pick-up location.

[0227] Method 3: Photograph the target pattern of the parking lot and determine the pick-up location based on the location information of the target pattern.

[0228] The above method improves the positioning accuracy of the vehicle in the automatic vehicle pickup scenario.

[0229] In some embodiments, the control instruction is a parking instruction for instructing the vehicle to park automatically.

[0230] The above method improves the positioning accuracy of the vehicle in the automatic parking scenario.

[0231] In some embodiments, the above method may further include:

[0232] Step S7300, receiving the current location sent by the vehicle.

[0233] Step S7400: Display the current map of the parking lot and the current position of the vehicle in the current map.

[0234] For example, while a vehicle is driving, it can collect ground image information along the way through a shooting device (such as a panoramic imaging system), thereby extracting target patterns in surrounding parking spaces to obtain its latest position. At the same time, the vehicle will also send its current position to the server and / or client.

[0235] In this way, users can query the current location of the vehicle in real time through the client, which improves the user experience.

[0236] Figure 8 This is a flow chart of a vehicle positioning method provided according to an embodiment of the present disclosure. The vehicle positioning method can be Figure 1 The server execution shown is Figure 8 As shown, the vehicle positioning method of this embodiment may include:

[0237] Step S8100: In response to the download request of the vehicle, the current map of the parking lot is sent to the vehicle so that the vehicle updates the locally stored parking lot map.

[0238] In some embodiments, the download request may be a download request sent by the vehicle based on a captured target pattern.

[0239] In some embodiments, the download request may be a download request sent when the vehicle determines, based on a captured target pattern, that a parking lot map stored locally on the vehicle is different from a current parking lot map stored on the server.

[0240] In some embodiments, the vehicle can capture environmental images of the vehicle's surroundings through the vehicle's camera, and determine the current map corresponding to the parking lot and the vehicle's current position in the current map based on the target pattern in the environmental image. The target pattern includes map indication information of the parking lot and location information of the target pattern.

[0241] By adopting the above technical solution, the vehicle can be instructed through control instructions to use the target pattern of the parking lot deployment collected by the shooting device, and the current map of the parking lot and the current position of the vehicle in the current map of the parking lot can be determined based on the target pattern, thereby improving the vehicle positioning accuracy.

[0242] In some embodiments, the method further includes: sending parking space usage information of the parking lot to the vehicle.

[0243] For example, the parking space usage information may include information such as whether there are available parking spaces in the parking lot, the locations of the available parking spaces, whether charging is possible, and the locations of the charging spaces.

[0244] In this way, the parking space information can be notified to the vehicle in a timely manner so that the vehicle can select a suitable target parking space when parking.

[0245] In some embodiments, the method further includes: receiving indication information sent by the vehicle indicating that the target parking space is occupied or released, so as to update the parking space usage information of the parking lot.

[0246] In this way, the real-time occupancy information of parking spaces in the parking lot can be updated without the need for additional on-site hardware, thus reducing operating costs.

[0247] Figure 9 This is a flow chart of a vehicle positioning method provided according to an embodiment of the present disclosure. The vehicle positioning method can be Figure 1 The vehicle positioning system shown is implemented as Figure 9 As shown, the vehicle positioning method of this embodiment may include:

[0248] Step S9100: The client sends a control instruction to the vehicle.

[0249] The specific implementation of this step can refer to the disclosure Figure 7 The description of step S7100 in the illustrated embodiment will not be repeated here.

[0250] In step S9200, the vehicle collects images of the environment around the vehicle through the vehicle's camera.

[0251] The specific implementation of this step can refer to the disclosure Figure 4 The description of step S4100 in the illustrated embodiment will not be repeated here.

[0252] In step S9300 , the vehicle determines relative position information between the target pattern and the vehicle based on the environment image.

[0253] The specific implementation of this step can refer to the disclosure Figure 4 The description of step S4200 in the illustrated embodiment will not be repeated here.

[0254] In step S9400, the vehicle determines its current position in the parking lot based on the relative position information and the target pattern.

[0255] The specific implementation of this step can refer to the disclosure Figure 4 The description of step S4300 in the illustrated embodiment will not be repeated here.

[0256] In step S9500 , the vehicle is controlled to travel from the current position to the target position according to the current map of the parking lot.

[0257] For example, in an automatic parking scenario, the target location may be an empty target parking space.

[0258] For another example, in an automatic car pickup scenario, the target location may be the car pickup location in the car pickup instruction, such as the user's location or the parking lot exit location.

[0259] Step S9600: The vehicle sends instruction information to the server.

[0260] For example, in an automatic parking scenario, when a vehicle drives to a target parking space, the vehicle may send an indication message to the server that the target parking space is occupied, so that the server can update the parking space usage information of the parking lot.

[0261] For another example, in an automatic car-picking scenario, after the vehicle is controlled to drive out of the occupied target parking space, an indication message indicating that the target parking space is released may be sent to the server so that the server can update the parking space usage information of the parking lot.

[0262] By adopting the above method, the environment map is acquired by the camera on the vehicle, and the current map of the parking lot and the current position of the vehicle in the current map of the parking lot are determined according to the target pattern in the environment image, thereby improving the vehicle positioning accuracy.

[0263] The present disclosure also provides a vehicle positioning device, such as Figure 10As shown, the vehicle positioning device 1000 may include a memory 1001 and a processor 1002 . The memory may be used to store computer instructions, and the processor may be used to call computer instructions from the memory to execute any method in the aforementioned embodiments of the present disclosure.

[0264] An embodiment of the present disclosure further provides a vehicle, which includes the vehicle positioning device provided in the above embodiment, or the vehicle can execute any method executed by the vehicle in the above embodiment of the present disclosure.

[0265] In one embodiment of the present disclosure, the vehicle may be an electric vehicle, a fuel vehicle, a gas vehicle, a hybrid oil-electric vehicle, or a hybrid gas-electric vehicle.

[0266] The present disclosure also provides a vehicle positioning system, which may include a vehicle and a server. The vehicle is configured to execute any of the methods described in the preceding embodiments of the present disclosure, and the server is configured to execute any of the methods described in the preceding embodiments of the present disclosure. Optionally, the vehicle positioning system may further include a client, configured to execute any of the methods described in the preceding embodiments of the present disclosure.

[0267] The present disclosure also provides a computer-readable storage medium having a computer program stored thereon. When executed by a processor, the computer program implements any of the methods described in the foregoing embodiments of the present disclosure. Optionally, the computer-readable storage medium may be a non-transitory storage medium, but is not limited thereto and may also be a transient storage medium.

[0268] An embodiment of the present disclosure further provides a computer program product, which may include a computer program. When the computer program is executed by a processor, any method in the aforementioned embodiments of the present disclosure may be implemented.

[0269] The present disclosure may be a system, method and / or computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement any of the methods in the aforementioned embodiments of the present disclosure.

[0270] A computer-readable storage medium can be a tangible device that can hold and store instructions for use by an instruction execution device. A computer-readable storage medium can be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination thereof. As used herein, a computer-readable storage medium is not to be construed as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through an electrical wire.

[0271] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions to be stored in the computer-readable storage medium in each computing / processing device.

[0272] The computer program instructions for performing the operation of the present disclosure can be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, which can include object-oriented programming languages such as Smalltalk, C++, and conventional procedural programming languages such as "C" language or similar programming languages. Computer-readable program instructions can be executed entirely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer and partially on a remote computer, or completely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, by utilizing the state information of computer-readable program instructions to personalize an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), the electronic circuit can execute computer-readable program instructions, thereby realizing various aspects of the present disclosure.

[0273] Various aspects of the present disclosure are described herein with reference to flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present disclosure. It should be understood that each block of the flowcharts and / or block diagrams, and combinations of blocks in the flowcharts and / or block diagrams, can be implemented by computer-readable program instructions.

[0274] These computer-readable program instructions can be provided to a processor 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 processor of the computer or other programmable data processing device, a device is generated that implements the functions / actions specified in one or more blocks in the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium, where these instructions cause the computer, programmable data processing device, and / or other device to operate in a specific manner. Thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing various aspects of the functions / actions specified in one or more blocks in the flowchart and / or block diagram.

[0275] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device, so that a series of operational steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0276] The flowcharts and block diagrams in the accompanying drawings show the possible implementation architectures, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, program segment or part of an instruction, which contains one or more executable instructions for implementing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions. It should be noted that implementation by hardware, implementation by software, and implementation by a combination of software and hardware are all equivalent.

[0277] The embodiments of the present disclosure have been described above. The above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terms used herein are chosen to best explain the principles of the embodiments, practical applications, or technical improvements to technologies in the marketplace, or to enable other persons skilled in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.

Claims

1. A vehicle positioning method, characterized in that: Applied to a vehicle, the method comprises: Capturing an environmental image of the vehicle's surroundings using a camera device of the vehicle; wherein the environmental image includes a target pattern corresponding to the parking lot; determining relative position information between the target pattern and the vehicle based on the environment image; The current position of the vehicle in the parking lot is determined according to the relative position information and the target pattern.

2. The method according to claim 1, characterized in that The determining the current position of the vehicle in the parking lot according to the relative position information and the target pattern includes: extracting map indication information corresponding to the parking lot and location information of the target pattern based on the target pattern; determining a current map of the parking lot according to the map indication information; The current position of the vehicle in the current map is determined according to the position information of the target pattern and the relative position information.

3. The method according to claim 2, characterized in that The map indication information includes version information corresponding to the current map of the parking lot and server information for downloading the current map; Determining the current map of the parking lot according to the map indication information includes: When the version information of the current map of the parking lot is different from the version information of the parking lot map stored locally in the vehicle, the server used to download the current map is determined based on the server information, and all information or incremental information of the current map is downloaded from the server, and the parking lot map stored locally in the vehicle is updated to the current map.

4. The method according to claim 1, wherein The shooting device includes a panoramic imaging system of the vehicle, the environmental image includes an image of a parking lot surface captured by the panoramic imaging system, and the target pattern includes a pattern deployed on the parking lot surface.

5. The method according to claim 1, wherein The capturing of the environmental image of the vehicle's surroundings by a camera device of the vehicle includes: In response to receiving the control instruction, capturing an image of the environment around the vehicle by a camera of the vehicle; The control instruction is a parking instruction for instructing the vehicle to automatically park, or a pick-up instruction for instructing the vehicle to automatically pick up the vehicle.

6. The method according to claim 5, characterized in that After receiving the control instruction, the method further includes: determining a target position according to the control instruction; The vehicle is controlled to travel from a current position to a target position according to a current map of the parking lot.

7. The method according to claim 6, characterized in that After determining the target position according to the control instruction, the method further includes: Periodically executing the vehicle position update step; Wherein, the vehicle position updating step includes: In a case where the environment image currently captured by the photographing device includes a target pattern, updating the current position of the vehicle according to the target pattern; or, In a case where the environment image currently captured by the shooting device does not include the target pattern, the current position of the vehicle is updated according to the driving speed and driving direction of the vehicle and the most recently acquired vehicle position.

8. The method according to claim 6, characterized in that The control instruction is a parking instruction; and determining the target position according to the control instruction includes: Acquiring parking space usage information of the parking lot according to the target pattern; A target parking space where the vehicle can park is determined as the target position according to the parking space usage information, the current map, and the current position of the vehicle.

9. The method according to claim 8, characterized in that After controlling the vehicle to travel from the current position to the target position, the method further includes: Sending indication information that the target parking space is occupied to a server so that the server updates parking space usage information of the parking lot.

10. The method according to claim 8, characterized in that The determining, based on the parking space usage information, the current map, and the current position of the vehicle, of a target parking space available for parking as the target position includes: When the vehicle needs to be charged, determining a charging space in the parking lot according to a current map of the parking lot; A rechargeable parking space where the vehicle can be parked is determined as the target location based on the parking space usage information, the current map, and the current location of the vehicle.

11. The method according to claim 10, characterized in that After controlling the vehicle to travel from the current position to the target position, the method further includes: Sending charging service request information to a server so that the server notifies the parking lot staff to charge the vehicle.

12. The method according to claim 6, characterized in that The control instruction is a vehicle pickup instruction, and the vehicle pickup instruction includes a vehicle pickup location; and determining a target location according to the control instruction includes: The vehicle pickup location in the vehicle pickup instruction is used as the target location.

13. The method according to claim 12, characterized in that After receiving the control instruction, the method further includes: After the vehicle is controlled to drive out of the occupied target parking space, indication information indicating that the target parking space is released is sent to the server so that the server can update the parking space usage information of the parking lot.

14. The method according to any one of claims 1 to 13, characterized in that There are multiple target patterns, and each target pattern is respectively deployed at least one of a parking space, an exit position, and an entrance position of the parking lot, and different target patterns correspond to different location information.

15. The method according to any one of claims 1 to 13, characterized in that The target pattern is a QR code and / or a bar code.

16. A vehicle positioning method, characterized in that: Applied to a server, the method includes: In response to a download request from a vehicle, a current map of the parking lot is sent to the vehicle so that the vehicle updates a locally stored parking lot map; wherein the download request is a download request sent by the vehicle to a server based on a captured target pattern.

17. The method according to claim 16, characterized in that The method further comprises: The parking space usage information of the parking lot is sent to the vehicle.

18. The method according to claim 16 or 17, characterized in that The method further comprises: Receive indication information sent by the vehicle indicating that the target parking space is occupied or released, so as to update the parking space usage information of the parking lot.

19. A vehicle positioning device, characterized in that: The vehicle positioning device includes a memory and a processor, the memory is used to store computer instructions, and the processor is used to call the computer instructions from the memory to execute the vehicle positioning method according to any one of claims 1 to 18.

20. A vehicle positioning system, characterized in that: The vehicle positioning system includes a vehicle and a server; wherein: The vehicle is used to perform the vehicle positioning method according to any one of claims 1 to 15; The server is configured to execute the vehicle positioning method according to any one of claims 16 to 18.

21. A vehicle, characterized in that: The vehicle is used to perform the vehicle positioning method according to any one of claims 1 to 15.

22. A computer-readable storage medium, characterized in that A computer program is stored thereon, and when the computer program is executed by a processor, the vehicle positioning method according to any one of claims 1 to 18 is implemented.

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