Processing method based on parking space recognition and parking control method and device

Abstract

The embodiment of the invention provides a processing method based on parking space recognition and a parking control method and device, and the method comprises the steps: obtaining parking space line data and obstacle data, and recognizing child and mother parking spaces according to the parking space line data and the obstacle data. According to the embodiment of the invention, the identification of the child-mother parking space is realized, the situation that the child parking space cannot be utilized due to the fact that the mother parking space is used as a common parking space for identification is avoided, and the utilization rate of the parking space is improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a processing method based on parking space recognition, and a parking control method and device. Background Art

[0002] Currently, the type of parking space is generally determined through neural networks, and can only automatically identify a vertical parking space in a row of horizontally arranged parking spaces, but cannot automatically identify two or more vertical parking spaces arranged vertically, such as parent-child parking spaces.

[0003] However, parent-child parking spaces are common in some scenarios. Since existing vehicles can usually only identify the parent parking space as a general parking space, the child parking space cannot be used, affecting the utilization rate of the parking space. Summary of the Invention

[0004] In view of the above problems, a method and apparatus for parking space recognition-based processing, parking control, and the like are proposed to overcome or at least partially solve the above problems, including:

[0005] A processing method based on parking space recognition, the method comprising:

[0006] Get parking space line data and obstacle data;

[0007] Identify parent-child parking spaces based on the parking space line data and the obstacle data.

[0008] Optionally, identifying parent-child parking spaces based on the parking space line data and the obstacle data includes:

[0009] Determining a first parking space and a parking space adjacent to the first parking space based on the parking space line data, and determining a parking space line position relationship between the first parking space and the parking space adjacent to the first parking space;

[0010] Identify parent-child parking spaces based on the parking space line position relationship and the obstacle data.

[0011] Optionally, identifying parent-child parking spaces based on the parking space line position relationship and the obstacle data includes:

[0012] When the short sides of the parking space lines of the first parking space and a second parking space adjacent to the first parking space are adjacent, the first parking space and the second parking space are identified as parent-child parking spaces according to the obstacle data.

[0013] Optionally, identifying the first parking space and the second parking space as parent-child parking spaces based on the obstacle data includes:

[0014] When no space limiter is provided between the first parking space and the second parking space, if one of the first parking space and the second parking space can only be parked into through the parking space of the other parking space, the first parking space and the second parking space are determined to be parent-child parking spaces.

[0015] Optionally, it also includes:

[0016] When the obstacle data indicates that an obstacle is provided in the surrounding environment of one of the first parking space and the second parking space, it is determined that one of the first parking space and the second parking space can only be parked into through the parking space of the other parking space.

[0017] Optionally, it also includes:

[0018] When the parking space line position relationship indicates that one of the first parking space and the second parking space has a third parking space adjacent to the long side of the lane line, and the obstacle data indicates that there are obstacles set in the surrounding environment except for the parking space of the third parking space, it is determined that one of the first parking space and the second parking space can only be parked into through the parking space of the other parking space.

[0019] Optionally, it also includes:

[0020] When the first parking space and the second parking space are parent-child parking spaces, a parent parking space and a child parking space are determined from the first parking space and the second parking space according to a positional relationship between the first parking space, the second parking space and the current vehicle.

[0021] Optionally, determining a parent parking space and a child parking space from the first parking space and the second parking space according to a positional relationship between the first parking space, the second parking space, and the current vehicle includes:

[0022] The parking space closer to the current vehicle among the first parking space and the second parking space is determined as a parent parking space, and the parking space farther from the current vehicle among the first parking space and the second parking space is determined as a child parking space.

[0023] Optionally, it also includes:

[0024] Determining the occupancy attribute of the parent-child parking space according to the obstacle data;

[0025] Determine the release status of the parent-child parking space according to the occupancy attribute of the parent-child parking space.

[0026] Optionally, determining the release state of the parent-child parking space according to the occupancy attribute of the parent-child parking space includes:

[0027] When the mother parking space in the parent-child parking space is occupied, determining that both the mother parking space and the child parking space in the parent-child parking space are in an unreleasable state;

[0028] When the mother parking space in the parent-child parking space is not occupied and the child parking space is occupied, determining that the mother parking space in the parent-child parking space is in a releasable state and the child parking space is in a non-releasable state;

[0029] When both the mother parking space and the child parking space in the parent-child parking space are not occupied, it is determined that both the mother parking space and the child parking space in the parent-child parking space are in a releasable state.

[0030] Optionally, it also includes:

[0031] When both the mother parking space and the child parking space in the parent-child parking space are in a releasable state, the child parking space in the parent-child parking space is recommended to the user.

[0032] A parking control method, the method comprising:

[0033] Get parking space line data and obstacle data;

[0034] Identify parent-child parking spaces based on the parking space line data and the obstacle data;

[0035] Based on the recognition result of the parent-child parking space, the current vehicle is controlled to park in the parent-child parking space.

[0036] Optionally, controlling the current vehicle to park in the parent-child parking space based on the recognition result of the parent-child parking space includes:

[0037] During the process of automatically parking into a parking space, determining the obstacle situation of adjacent parking spaces to be parked;

[0038] When there is no obstacle in the adjacent parking space of the parking space to be parked, the vehicle is parked into the parking space to be parked through the parking space space of the adjacent parking space of the parking space to be parked.

[0039] Optionally, the step of parking into the parking space to be parked through a parking space adjacent to the parking space to be parked includes:

[0040] When the parking space to be parked is the mother parking space of the parent-child parking space, parking into the mother parking space through the parking space of the adjacent parking space of the parent-child parking space;

[0041] When the parking space to be parked is a sub-parking space in the parent-child parking space, the child parking space is parked through the parking space of the adjacent parking space of the parent-child parking space and the parent parking space.

[0042] A processing device based on parking space recognition, the device is used to:

[0043] Get parking space line data and obstacle data;

[0044] Identify parent-child parking spaces based on the parking space line data and the obstacle data.

[0045] A parking control device, the device being used for:

[0046] Get parking space line data and obstacle data;

[0047] Identify parent-child parking spaces based on the parking space line data and the obstacle data;

[0048] Based on the recognition result of the parent-child parking space, the current vehicle is controlled to park in the parent-child parking space.

[0049] An automatic parking system includes the apparatus described above, or an electronic device includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the method described above when executed by the processor.

[0050] A vehicle comprises the automatic parking system as described above, or the device as described above.

[0051] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described above is implemented.

[0052] A computer program product comprises a computer program, wherein when the computer program is executed by a processor, the computer program implements the method described above.

[0053] The embodiments of the present invention have the following advantages:

[0054] In an embodiment of the present invention, by acquiring parking space line data and obstacle data, parent and child parking spaces are identified based on the parking space line data and the obstacle data, thereby realizing the identification of parent and child parking spaces, avoiding the situation where the parent parking space is identified as a general parking space and the child parking space cannot be used, and improving the utilization rate of the parking space. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the technical solution of the present invention, the following briefly introduces the drawings required for use in the description of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0056] Figure 1 is a flowchart of a processing method based on parking space recognition provided by some embodiments of the present invention;

[0057] Figure 2 is a schematic diagram of a parking space provided by some embodiments of the present invention;

[0058] Figure 3ais a schematic diagram of another parking space provided by some embodiments of the present invention;

[0059] Figure 3b is a schematic diagram of another parking space provided by some embodiments of the present invention;

[0060] Figure 3c is a schematic diagram of a parking space angle provided by some embodiments of the present invention;

[0061] Figure 3d is a schematic diagram of another parking space provided by some embodiments of the present invention;

[0062] Figure 3e is a schematic diagram of another parking space provided by some embodiments of the present invention;

[0063] Figure 3f is a schematic diagram of another parking space provided by some embodiments of the present invention;

[0064] Figure 3g is a schematic diagram of another parking space provided by some embodiments of the present invention;

[0065] Figure 3h is a schematic diagram of another parking space provided by some embodiments of the present invention;

[0066] Figure 3i is a schematic diagram of another parking space provided by some embodiments of the present invention;

[0067] Figure 3j is a schematic diagram of another parking space provided by some embodiments of the present invention;

[0068] Figure 4 is a schematic diagram of a parking space type identification process provided by some embodiments of the present invention;

[0069] Figure 5 is a schematic diagram of a parking space release process provided by some embodiments of the present invention;

[0070] Figure 6 is a flowchart of the steps of a parking control method provided by some embodiments of the present invention;

[0071] Figure 7a is a schematic diagram of parking provided by some embodiments of the present invention;

[0072] Figure 7b is a schematic diagram of another parking method provided by some embodiments of the present invention;

[0073] Figure 7c is a schematic diagram of another parking method provided by some embodiments of the present invention;

[0074] Figure 7dis a schematic diagram of another parking method provided by some embodiments of the present invention. DETAILED DESCRIPTION

[0075] To make the above-mentioned objects, features, and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments described are only a portion of the embodiments of the present invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are also within the scope of protection of the present invention.

[0076] Reference Figure 1 , shows a flowchart of a processing method based on parking space recognition provided by some embodiments of the present invention, which may specifically include the following steps:

[0077] Step 101: Acquire parking space line data and obstacle data.

[0078] In practical applications, on-board sensors can be used to collect parking space line data and obstacle data around the vehicle. For example, on-board sensors can include ultrasonic sensors, surround-view cameras, side-view cameras, front-view cameras, and lidar. In some examples, the sensor's detection range can be set to 15 meters or longer, taking into account the depth of parent-child parking spaces and the distance required to search for parking spaces laterally.

[0079] In some examples, the parking line data may include data such as the location and type of the parking line, such as Figure 2 Parking lines include horizontal parking lines, vertical parking lines (such as ordinary parking spaces and parent-child parking spaces), and inclined parking lines. According to the corner point type of the parking lines, they include solid lines, T-shaped, L-shaped, U-shaped and other parking lines.

[0080] In some examples, obstacle data may include the location, size, and type of the obstacle. For example, obstacles may include stoppers, blocking vehicles, and general obstacles. Blocking vehicles may include various passenger vehicles, such as cars, vans, trucks, and buses. General obstacles may include various objects that may be present in parking spaces, such as cones, no parking signs, buckets, stools, tables, open car doors, fire hydrants, pillars, piers, trees, ground locks, strollers, shopping carts, and so on.

[0081] Step 102: Identify parent-child parking spaces based on the parking space line data and the obstacle data.

[0082] After obtaining the parking space line data and the obstacle data, the parking space line data and the obstacle data may be further analyzed and processed to identify whether the current parking space is a parent-child parking space.

[0083] In an embodiment of the present invention, by acquiring parking space line data and obstacle data, parent and child parking spaces are identified based on the parking space line data and the obstacle data, thereby realizing the identification of parent and child parking spaces, avoiding the situation where the parent parking space is identified as a general parking space and the child parking space cannot be used, and improving the utilization rate of the parking space.

[0084] In some embodiments of the present invention, identifying parent-child parking spaces based on the parking space line data and the obstacle data includes:

[0085] Based on the parking space line data, a first parking space and a parking space adjacent to the first parking space are determined, and a parking space line position relationship between the first parking space and the parking space adjacent to the first parking space is determined; based on the parking space line position relationship and the obstacle data, a parent-child parking space is identified.

[0086] In actual applications, some parking lines are adjacent between two adjacent parking spaces (in some examples, the adjacent parking lines can be that some parking lines overlap, or some parking lines do not overlap but there are no other parking lines between the parking lines). For any first parking space, the adjacent parking spaces can be determined by analyzing the parking line data.

[0087] After determining the first parking space and the adjacent parking spaces, the parking space line positional relationship between the first parking space and the adjacent parking spaces can be determined using the adjacent partial parking space lines. In some examples, the parking space line positional relationship may include whether the long sides of the parking space lines are adjacent and whether the short sides of the parking space lines are adjacent. Specifically, one parking space may correspond to four parking space lines, which form a parking area. The four parking space lines include two long sides and two short sides. The long side is the longer parking space line among the four parking space lines, and the short side is the shorter parking space line among the four parking space lines.

[0088] After determining the positional relationship of the parking space lines, it is possible to identify whether the first parking space and the parking spaces adjacent to the first parking space are parent-child parking spaces based on the positional relationship of the parking space lines and the obstacle data.

[0089] In some embodiments of the present invention, identifying parent-child parking spaces based on the parking space line position relationship and the obstacle data includes:

[0090] When the short sides of the parking space lines of the first parking space and a second parking space adjacent to the first parking space are adjacent, the first parking space and the second parking space are identified as parent-child parking spaces according to the obstacle data.

[0091] For a parent-child parking space, it is composed of two parking spaces with adjacent short sides, that is, the parking space lines of the parent parking space and the child parking space have one adjacent short side. Then, based on the position relationship of the parking space lines, the second parking space adjacent to the short side of the parking space line of the first parking space can be determined from the parking spaces adjacent to the first parking space.

[0092] After determining the second parking space adjacent to the short side of the parking space line of the first parking space, we can further analyze whether the first and second parking spaces are parent-child parking spaces based on the obstacle data. For other parking spaces adjacent to the first parking space, since the short sides of the parking space lines of the other parking spaces are not adjacent to the first parking space, it is indicated that the two are not parent-child parking spaces, and there is no need to perform the subsequent parent-child parking space identification process.

[0093] In some embodiments of the present invention, identifying the first parking space and the second parking space as parent-child parking spaces based on the obstacle data includes:

[0094] When no space limiter is provided between the first parking space and the second parking space, if one of the first parking space and the second parking space can only be parked into through the parking space of the other parking space, the first parking space and the second parking space are determined to be parent-child parking spaces.

[0095] As an example, the limiting object may be a limiting block.

[0096] When using parent-child parking spaces, if the child parking space is blocked by obstacles or other objects, the vehicle needs to park from the parent parking space into the child parking space. The parent parking space and the child parking space are connected, so you can first determine whether there is a limiter between the first parking space and the second parking space.

[0097] When a space limiter is set between the first parking space and the second parking space, the first parking space and the second parking space are not connected, indicating that the two are not parent-child parking spaces and there is no need to perform a subsequent parent-child parking space identification process.

[0098] When there is no limiter between the first parking space and the second parking space, the first parking space and the second parking space are connected, and the two may be parent-child parking spaces. Then, it can be further determined based on the obstacle data whether one of the first parking space and the second parking space can only be parked through the parking space of the other parking space.

[0099] If one of the first and second parking spaces can only be parked into via the parking space of the other parking space, the first and second parking spaces can be determined to be parent-child parking spaces. If both the first and second parking spaces can be parked into using methods other than "parking into via the parking space of the other parking space," the first and second parking spaces can be determined not to be parent-child parking spaces.

[0100] In some embodiments of the present invention, the present invention further includes:

[0101] When the obstacle data indicates that an obstacle is set in the surrounding environment of one of the first parking space and the second parking space, it is determined that one of the first parking space and the second parking space (i.e., the child parking space) can only be parked in through the parking space of the other parking space (i.e., the parent parking space).

[0102] As an example, the obstacle may be a barrier post, a wall, etc.

[0103] In actual applications, by analyzing the obstacle data of the surrounding environment of the first parking space and the second parking space, it is determined that there are obstacles in the surrounding environment. If there are obstacles in the surrounding environment of one of the first parking space and the second parking space, it is determined that one of the first parking space and the second parking space can only be parked through the parking space of the other parking space, and then the first parking space and the second parking space are determined to be parent-child parking spaces.

[0104] In some examples, the size of obstacles set in the surrounding environment can also be analyzed to determine whether the size of the obstacles hinders the vehicle from parking in the parking space. If it hinders the vehicle from parking in the parking space, it can be determined that one of the first parking space and the second parking space can only be parked through the parking space of the other parking space, and then the first parking space and the second parking space are determined to be parent-child parking spaces.

[0105] In some embodiments of the present invention, the present invention further includes:

[0106] When the parking space line position relationship indicates that one of the first parking space and the second parking space has a third parking space adjacent to the long side of the lane line, and the obstacle data indicates that there are obstacles set in the surrounding environment except for the parking space of the third parking space, it is determined that one of the first parking space and the second parking space can only be parked into through the parking space of the other parking space.

[0107] In actual applications, in addition to the first and second parking spaces adjacent to the short side of the parking space line, there is also a third parking space adjacent to the long side of the lane line. Assuming that the sub-parking space in the parent-child parking space has a third parking space adjacent to the long side of the lane line, when the third parking space is vacant, that is, the third parking space is not occupied, the sub-parking space in the parent-child parking space can be parked through the parking space of the third parking space. However, after the vehicle is parked, if the third parking space is occupied, the sub-parking space in the parent-child parking space will be blocked, and the vehicle in the sub-parking space cannot be parked out.

[0108] Based on this, the situation of parking through the third parking space can be ruled out. That is, by analyzing the obstacle data, when the obstacle data indicates that there are obstacles in the surrounding environment except for the parking space of the third parking space, it can be determined that one of the first parking space and the second parking space can only be parked through the parking space of the other parking space, and then the first parking space and the second parking space are determined to be parent-child parking spaces.

[0109] In some embodiments of the present invention, the present invention further includes:

[0110] When the first parking space and the second parking space are parent-child parking spaces, a parent parking space and a child parking space are determined from the first parking space and the second parking space according to a positional relationship between the first parking space, the second parking space and the current vehicle.

[0111] In some embodiments of the present invention, determining a parent parking space and a child parking space from the first parking space and the second parking space according to a positional relationship between the first parking space, the second parking space, and the current vehicle includes:

[0112] The parking space closer to the current vehicle among the first parking space and the second parking space is determined as a parent parking space, and the parking space farther from the current vehicle among the first parking space and the second parking space is determined as a child parking space.

[0113] After identifying the first parking space and the second parking space as parent-child parking spaces, it can be determined based on the positional relationship between the first parking space, the second parking space and the current vehicle, and then it can be determined whether the first parking space and the second parking space are parent parking spaces or child parking spaces based on the positional relationship between the first parking space, the second parking space and the current vehicle.

[0114] When using parent-child parking spaces, a vehicle is parked from a parent parking space into a child parking space. If the parent parking space is close to the current vehicle, the parking space closer to the current vehicle among the first and second parking spaces can be determined as the parent parking space, and the parking space farther away from the current vehicle among the first and second parking spaces can be determined as the child parking space.

[0115] The following combination Figure 3a-3j 、 Figure 4 For example explanation:

[0116] In actual applications, the specific types of parking spaces can include horizontal parking spaces, vertical parking spaces, inclined parking spaces, and herringbone parking spaces. Vertical parking spaces are further divided into ordinary vertical parking spaces and parent-child parking spaces.

[0117] In some examples, for a single parking space with no adjacent parking spaces for reference, the presence and location of an opening feature can be detected by the number of parking space lines, such as Figure 3a and Figure 3b The opening feature on the short side is a vertical parking space, and the opening feature on the long side is a horizontal parking space.

[0118] In some examples, for a single parking space, there is no adjacent parking space for reference and no opening feature, then the judgment can be made based on the relative position relationship between the current vehicle and the parking space, such as Figure 3c The parking spaces with an angle of less than 45° between the long side and the direction of vehicle movement are horizontal parking spaces, and the parking spaces with an angle of less than or equal to 45° between the short side and the direction of vehicle movement are vertical parking spaces.

[0119] In some examples, for a single parent-child parking space, whether the parking space is an opposite vertical parking space (e.g., Figure 3d ), continuous parallel parking spaces (such as Figure 3e and Figure 3f ), single parent-child parking space (such as Figure 3g ).

[0120] In some examples, for scenes with adjacent parking spaces, the long side / short side of the adjacent parking spaces is adjacent (e.g. Figure 3h ), whether the parking space opening is level (such as Figure 3i ), the angle between the long side and the short side of the parking space (such as Figure 3j ), and then determine whether the parking space is a horizontal parking space, a vertical parking space, an oblique parking space, or a fishbone parking space.

[0121] The following combination Figure 4 The following is an example of the parking space recognition process:

[0122] 41. Detect the positions of the long and short sides of the lane lines of two adjacent parking spaces.

[0123] 42. Determine whether the long sides are adjacent.

[0124] 421. When the long sides are not adjacent, determine whether the short sides are adjacent.

[0125] 4211, when the short sides are adjacent, the parking space is determined to be a horizontal parking space.

[0126] 4212. When the short sides are not adjacent, the parking space is determined to be an irregular parking space.

[0127] 422. When the long sides are adjacent, determine whether the short sides are adjacent.

[0128] 4221, when the short sides are not adjacent, determine whether the parking space openings are flush.

[0129] 42211, when the parking space opening is not level, the parking space is determined to be a herringbone parking space.

[0130] 42212, when the parking space opening is flush, determine whether the long side and short side of the parking space are perpendicular.

[0131] 422121, when the long side and the short side are not perpendicular, the parking space is determined to be a slanted parking space.

[0132] 422122, when the long side and the short side are perpendicular, the parking space is determined to be a normal vertical parking space.

[0133] 4222. When the short sides are adjacent, determine whether there is a limit block at the bottom of the parking space for the own vehicle.

[0134] 42221, when there is a limited block, the parking space is an ordinary vertical parking space.

[0135] 42222, when there is no limit block, determine whether two longitudinally consecutive parking spaces are close to the child vehicle.

[0136] 422221, determine the parking space close to the vehicle as the vertical parent parking space.

[0137] 422222, the parking space far away from the own vehicle is determined as a vertical sub-parking space.

[0138] In some embodiments of the present invention, the present invention further includes:

[0139] The occupation attribute of the parent-child parking space is determined according to the obstacle data; and the release state of the parent-child parking space is determined according to the occupation attribute of the parent-child parking space.

[0140] In actual applications, each parking space has corresponding occupancy attributes and release states. The occupancy attribute indicates whether a vehicle is occupied, and the release state indicates whether the parking space is available for parking. Whether the parking space is in a release state can be determined based on the occupancy attribute.

[0141] In some embodiments of the present invention, determining the release state of the parent-child parking space according to the occupancy attribute of the parent-child parking space includes:

[0142] When the mother parking space in the parent-child parking space is occupied, determining that both the mother parking space and the child parking space in the parent-child parking space are in an unreleasable state;

[0143] When the mother parking space in the parent-child parking space is not occupied and the child parking space is occupied, determining that the mother parking space in the parent-child parking space is in a releasable state and the child parking space is in a non-releasable state;

[0144] When both the mother parking space and the child parking space in the parent-child parking space are not occupied, it is determined that both the mother parking space and the child parking space in the parent-child parking space are in a releasable state.

[0145] In some embodiments of the present invention, the present invention further includes:

[0146] When both the mother parking space and the child parking space in the parent-child parking space are in a releasable state, the child parking space in the parent-child parking space is recommended to the user.

[0147] In actual applications, the release status of a parking space is related to its own occupancy attribute, that is, a parking space is in a released state when it is not occupied. However, the parent and child parking spaces have a special relationship. The child parking space can only be used when the parent parking space is not occupied. When the parent parking space is occupied, the child parking space cannot be parked in even if it is not occupied. The release status of the parent parking space can be determined based on its own occupancy attribute, while the release status of the child parking space can be determined by combining its own occupancy attribute and the occupancy attribute of the parent parking space.

[0148] The following combination Figure 5 The following is an example of the release process of parent-child parking spaces:

[0149] 51. Detect the occupancy properties of parent-child parking spaces.

[0150] 52. Determine whether the parent parking space is occupied.

[0151] 521. When the parent parking space is occupied, the parking space will not be released.

[0152] 522. When the parent parking space is not occupied, determine whether the child parking space is occupied.

[0153] 5221. When the sub-parking space is occupied, only the parent parking space will be released.

[0154] 5222. When the sub-parking space is not occupied, the parent parking space and the sub-parking space are released at the same time, the sub-parking space is recommended by default, and it is determined whether the user switches to the recommended parking space.

[0155] 52221, when the user switches to a recommended parking space, the parent parking space is selected, and after the user clicks to start parking, the car is parked in the selected target parking space.

[0156] 52222, when the user has not switched to the recommended parking space, the sub-parking space is selected, and after the user clicks to start parking, the car is parked in the selected target parking space.

[0157] Reference Figure 6 , shows a flowchart of a processing method based on parking space recognition provided by some embodiments of the present invention, which may specifically include the following steps:

[0158] Step 601: Acquire parking space line data and obstacle data.

[0159] Step 602: Identify parent-child parking spaces based on the parking space line data and the obstacle data.

[0160] Optionally, identifying parent-child parking spaces based on the parking space line data and the obstacle data includes:

[0161] Determining a first parking space and a parking space adjacent to the first parking space based on the parking space line data, and determining a parking space line position relationship between the first parking space and the parking space adjacent to the first parking space;

[0162] Identify parent-child parking spaces based on the parking space line position relationship and the obstacle data.

[0163] Optionally, identifying parent-child parking spaces based on the parking space line position relationship and the obstacle data includes:

[0164] When the short sides of the parking space lines of the first parking space and a second parking space adjacent to the first parking space are adjacent, the first parking space and the second parking space are identified as parent-child parking spaces according to the obstacle data.

[0165] Optionally, identifying the first parking space and the second parking space as parent-child parking spaces based on the obstacle data includes:

[0166] When no space limiter is provided between the first parking space and the second parking space, if one of the first parking space and the second parking space can only be parked into through the parking space of the other parking space, the first parking space and the second parking space are determined to be parent-child parking spaces.

[0167] Optionally, it also includes:

[0168] When the obstacle data indicates that an obstacle is provided in the surrounding environment of one of the first parking space and the second parking space, it is determined that one of the first parking space and the second parking space can only be parked into through the parking space of the other parking space.

[0169] Optionally, it also includes:

[0170] When the parking space line position relationship indicates that one of the first parking space and the second parking space has a third parking space adjacent to the long side of the lane line, and the obstacle data indicates that there are obstacles set in the surrounding environment except for the parking space of the third parking space, it is determined that one of the first parking space and the second parking space can only be parked into through the parking space of the other parking space.

[0171] Optionally, it also includes:

[0172] When the first parking space and the second parking space are parent-child parking spaces, a parent parking space and a child parking space are determined from the first parking space and the second parking space according to a positional relationship between the first parking space, the second parking space and the current vehicle.

[0173] Optionally, determining a parent parking space and a child parking space from the first parking space and the second parking space according to a positional relationship between the first parking space, the second parking space, and the current vehicle includes:

[0174] The parking space closer to the current vehicle among the first parking space and the second parking space is determined as a parent parking space, and the parking space farther from the current vehicle among the first parking space and the second parking space is determined as a child parking space.

[0175] Optionally, it also includes:

[0176] Determining the occupancy attribute of the parent-child parking space according to the obstacle data;

[0177] Determine the release status of the parent-child parking space according to the occupancy attribute of the parent-child parking space.

[0178] Optionally, determining the release state of the parent-child parking space according to the occupancy attribute of the parent-child parking space includes:

[0179] When the mother parking space in the parent-child parking space is occupied, determining that both the mother parking space and the child parking space in the parent-child parking space are in an unreleasable state;

[0180] When the mother parking space in the parent-child parking space is not occupied and the child parking space is occupied, determining that the mother parking space in the parent-child parking space is in a releasable state and the child parking space is in a non-releasable state;

[0181] When both the mother parking space and the child parking space in the parent-child parking space are not occupied, it is determined that both the mother parking space and the child parking space in the parent-child parking space are in a releasable state.

[0182] Optionally, it also includes:

[0183] When both the mother parking space and the child parking space in the parent-child parking space are in a releasable state, the child parking space in the parent-child parking space is recommended to the user.

[0184] It should be noted that the above process of identifying parent-child parking spaces can refer to the relevant description in the embodiment of the processing method based on parking space identification, and will not be repeated here.

[0185] Step 603: Based on the recognition result of the parent-child parking space, control the current vehicle to park in the parent-child parking space.

[0186] In actual applications, you can switch between parent-child parking spaces based on system recommendations or user selection, perform path planning, and then automatically park according to the planned path, parking in the parent or child parking space in the parent-child parking space.

[0187] In some embodiments of the present invention, controlling the current vehicle to park in the parent-child parking space based on the recognition result of the parent-child parking space includes:

[0188] During the process of automatically parking into a parking space, the obstacle situation of the adjacent parking space to be parked is determined; if there is no obstacle in the adjacent parking space to be parked into the parking space, the vehicle is parked into the parking space to be parked into through the parking space space of the adjacent parking space to be parked into the parking space.

[0189] In actual application, parking by "borrowing a parking space" is simpler than other methods. After selecting the mother parking space or the child parking space in the parent-child parking space as the parking space to be parked, the obstacle situation of the adjacent parking space to be parked can be determined based on the obstacle data.

[0190] If there are no obstacles in the adjacent parking spaces, i.e., no vehicles or pedestrians occupying the adjacent spaces, you can park into the space you wish to park in by using the adjacent spaces. If there are obstacles in the adjacent spaces, you can only use conventional methods to park directly into the main parking space, or you can only park into the child parking space by using the main parking space.

[0191] In some embodiments of the present invention, the step of parking into the parking space to be parked through a parking space adjacent to the parking space to be parked includes:

[0192] When the parking space to be parked is the mother parking space of the parent-child parking space, parking into the mother parking space through the parking space of the adjacent parking space of the parent-child parking space;

[0193] When the parking space to be parked is a sub-parking space in the parent-child parking space, the child parking space is parked through the parking space of the adjacent parking space of the parent-child parking space and the parent parking space.

[0194] like Figure 7a If there are obstructing vehicles around the parent parking space and the parking space is limited, the parking path may have to pass through the parking space multiple times. Figure 7b If there is no obstructing vehicle around the main parking space, you can use part of the space adjacent to the main parking space during parking, and it can be completed with just one parking maneuver.

[0195] like Figure 7c If there are obstructing vehicles around the sub-parking space and the parking space is limited, the parking path may have multiple rubbings, such as Figure 7d If there are no obstructing vehicles around the sub-parking space, you can borrow part of the space adjacent to the main parking space, or even part of the space adjacent to the sub-parking space during parking, and parking can be completed in one go.

[0196] It should be noted that for the sake of simplicity, the method embodiments are described as a series of actions. However, those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0197] Some embodiments of the present invention also provide a processing device based on parking space recognition, which is specifically used to:

[0198] Get parking space line data and obstacle data;

[0199] Identify parent-child parking spaces based on the parking space line data and the obstacle data.

[0200] Optionally, identifying parent-child parking spaces based on the parking space line data and the obstacle data includes:

[0201] Determining a first parking space and a parking space adjacent to the first parking space based on the parking space line data, and determining a parking space line position relationship between the first parking space and the parking space adjacent to the first parking space;

[0202] Identify parent-child parking spaces based on the parking space line position relationship and the obstacle data.

[0203] Optionally, identifying parent-child parking spaces based on the parking space line position relationship and the obstacle data includes:

[0204] When the short sides of the parking space lines of the first parking space and a second parking space adjacent to the first parking space are adjacent, the first parking space and the second parking space are identified as parent-child parking spaces according to the obstacle data.

[0205] Optionally, identifying the first parking space and the second parking space as parent-child parking spaces based on the obstacle data includes:

[0206] When no space limiter is provided between the first parking space and the second parking space, if one of the first parking space and the second parking space can only be parked into through the parking space of the other parking space, the first parking space and the second parking space are determined to be parent-child parking spaces.

[0207] Optionally, it also includes:

[0208] When the obstacle data indicates that an obstacle is provided in the surrounding environment of one of the first parking space and the second parking space, it is determined that one of the first parking space and the second parking space can only be parked into through the parking space of the other parking space.

[0209] Optionally, it also includes:

[0210] When the parking space line position relationship indicates that one of the first parking space and the second parking space has a third parking space adjacent to the long side of the lane line, and the obstacle data indicates that there are obstacles set in the surrounding environment except for the parking space of the third parking space, it is determined that one of the first parking space and the second parking space can only be parked into through the parking space of the other parking space.

[0211] Optionally, it also includes:

[0212] When the first parking space and the second parking space are parent-child parking spaces, a parent parking space and a child parking space are determined from the first parking space and the second parking space according to a positional relationship between the first parking space, the second parking space and the current vehicle.

[0213] Optionally, determining a parent parking space and a child parking space from the first parking space and the second parking space according to a positional relationship between the first parking space, the second parking space, and the current vehicle includes:

[0214] The parking space closer to the current vehicle among the first parking space and the second parking space is determined as a parent parking space, and the parking space farther from the current vehicle among the first parking space and the second parking space is determined as a child parking space.

[0215] Optionally, it also includes:

[0216] Determining the occupancy attribute of the parent-child parking space according to the obstacle data;

[0217] Determine the release status of the parent-child parking space according to the occupancy attribute of the parent-child parking space.

[0218] Optionally, determining the release state of the parent-child parking space according to the occupancy attribute of the parent-child parking space includes:

[0219] When the mother parking space in the parent-child parking space is occupied, determining that both the mother parking space and the child parking space in the parent-child parking space are in an unreleasable state;

[0220] When the mother parking space in the parent-child parking space is not occupied and the child parking space is occupied, determining that the mother parking space in the parent-child parking space is in a releasable state and the child parking space is in a non-releasable state;

[0221] When both the mother parking space and the child parking space in the parent-child parking space are not occupied, it is determined that both the mother parking space and the child parking space in the parent-child parking space are in a releasable state.

[0222] Optionally, it also includes:

[0223] When both the mother parking space and the child parking space in the parent-child parking space are in a releasable state, the child parking space in the parent-child parking space is recommended to the user.

[0224] Some embodiments of the present invention also provide a parking control device, specifically for:

[0225] Get parking space line data and obstacle data;

[0226] Identify parent-child parking spaces based on the parking space line data and the obstacle data;

[0227] Based on the recognition result of the parent-child parking space, the current vehicle is controlled to park in the parent-child parking space.

[0228] Optionally, controlling the current vehicle to park in the parent-child parking space based on the recognition result of the parent-child parking space includes:

[0229] During the process of automatically parking into a parking space, determining the obstacle situation of adjacent parking spaces to be parked;

[0230] When there is no obstacle in the adjacent parking space of the parking space to be parked, the vehicle is parked into the parking space to be parked through the parking space space of the adjacent parking space of the parking space to be parked.

[0231] Optionally, the step of parking into the parking space to be parked through a parking space adjacent to the parking space to be parked includes:

[0232] When the parking space to be parked is the mother parking space of the parent-child parking space, parking into the mother parking space through the parking space of the adjacent parking space of the parent-child parking space;

[0233] When the parking space to be parked is a sub-parking space in the parent-child parking space, the child parking space is parked through the parking space of the adjacent parking space of the parent-child parking space and the parent parking space.

[0234] Some embodiments of the present invention further provide an automatic parking system, including the apparatus as described above, or including the apparatus as described above.

[0235] Some embodiments of the present invention further provide an electronic device, comprising a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the above method when executed by the processor.

[0236] Some embodiments of the present invention further provide a vehicle comprising the automatic parking system as described above, or the device as described above.

[0237] Some embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the above method is implemented.

[0238] Some embodiments of the present invention further provide a computer program product, including a computer program, which implements the above method when executed by a processor.

[0239] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0240] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0241] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0242] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, apparatus, or computer program products. Thus, embodiments of the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0243] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the process in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0244] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0245] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 a process or multiple processes and / or boxes Figure 1 The steps for the function specified in one or more boxes.

[0246] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they become aware of the basic creative concepts. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0247] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "includes," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or terminal device. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of additional identical elements in the process, method, article, or terminal device that includes the above elements.

[0248] The above is a detailed introduction to the processing method based on parking space recognition, the parking control method and the device. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A processing method based on parking space recognition, characterized in that: The method comprises: Get parking space line data and obstacle data; Identify parent-child parking spaces based on the parking space line data and the obstacle data.

2. The method according to claim 1, characterized in that The identifying of parent-child parking spaces according to the parking space line data and the obstacle data includes: Determining a first parking space and a parking space adjacent to the first parking space based on the parking space line data, and determining a parking space line position relationship between the first parking space and the parking space adjacent to the first parking space; Identify parent-child parking spaces based on the parking space line position relationship and the obstacle data.

3. The method according to claim 2, characterized in that The identifying of parent-child parking spaces according to the parking space line position relationship and the obstacle data includes: When the short sides of the parking space lines of the first parking space and a second parking space adjacent to the first parking space are adjacent, the first parking space and the second parking space are identified as parent-child parking spaces according to the obstacle data.

4. The method according to claim 3, characterized in that The identifying, based on the obstacle data, that the first parking space and the second parking space are parent-child parking spaces includes: When no space limiter is provided between the first parking space and the second parking space, if one of the first parking space and the second parking space can only be parked into through the parking space of the other parking space, the first parking space and the second parking space are determined to be parent-child parking spaces.

5. The method according to claim 4, characterized in that Also includes: When the obstacle data indicates that an obstacle is provided in the surrounding environment of one of the first parking space and the second parking space, it is determined that one of the first parking space and the second parking space can only be parked into through the parking space of the other parking space.

6. The method according to claim 4, characterized in that Also includes: When the parking space line position relationship indicates that one of the first parking space and the second parking space has a third parking space adjacent to the long side of the lane line, and the obstacle data indicates that there are obstacles set in the surrounding environment except for the parking space of the third parking space, it is determined that one of the first parking space and the second parking space can only be parked into through the parking space of the other parking space.

7. The method according to claim 3, characterized in that Also includes: When the first parking space and the second parking space are parent-child parking spaces, a parent parking space and a child parking space are determined from the first parking space and the second parking space according to a positional relationship between the first parking space, the second parking space and the current vehicle.

8. The method according to claim 7, characterized in that The determining of a parent parking space and a child parking space from the first parking space and the second parking space according to a positional relationship between the first parking space, the second parking space, and the current vehicle includes: The parking space closer to the current vehicle among the first parking space and the second parking space is determined as a parent parking space, and the parking space farther from the current vehicle among the first parking space and the second parking space is determined as a child parking space.

9. The method according to any one of claims 1 to 8, characterized in that Also includes: Determining the occupancy attribute of the parent-child parking space according to the obstacle data; Determine the release status of the parent-child parking space according to the occupancy attribute of the parent-child parking space.

10. The method according to claim 9, characterized in that The step of determining the release state of the parent-child parking space according to the occupancy attribute of the parent-child parking space includes: When the mother parking space in the parent-child parking space is occupied, determining that both the mother parking space and the child parking space in the parent-child parking space are in an unreleasable state; When the mother parking space in the parent-child parking space is not occupied and the child parking space is occupied, determining that the mother parking space in the parent-child parking space is in a releasable state and the child parking space is in a non-releasable state; When both the mother parking space and the child parking space in the parent-child parking space are not occupied, it is determined that both the mother parking space and the child parking space in the parent-child parking space are in a releasable state.

11. The method according to claim 10, characterized in that Also includes: When both the mother parking space and the child parking space in the parent-child parking space are in a releasable state, the child parking space in the parent-child parking space is recommended to the user.

12. A parking control method, characterized in that: The method comprises: Get parking space line data and obstacle data; Identify parent-child parking spaces based on the parking space line data and the obstacle data; Based on the recognition result of the parent-child parking space, the current vehicle is controlled to park in the parent-child parking space.

13. The method according to claim 12, characterized in that The controlling the current vehicle to park in the parent-child parking space based on the recognition result of the parent-child parking space includes: During the process of automatically parking into a parking space, determining the obstacle situation of adjacent parking spaces to be parked; When there is no obstacle in the adjacent parking space of the parking space to be parked, the vehicle is parked into the parking space to be parked through the parking space space of the adjacent parking space of the parking space to be parked.

14. The method according to claim 13, characterized in that The step of parking into the parking space to be parked through a parking space adjacent to the parking space to be parked comprises: When the parking space to be parked is the mother parking space of the parent-child parking space, parking into the mother parking space through the parking space of the adjacent parking space of the parent-child parking space; When the parking space to be parked is a sub-parking space in the parent-child parking space, the child parking space is parked through the parking space of the adjacent parking space of the parent-child parking space and the parent parking space.

15. A processing device based on parking space recognition, characterized in that: The device is used to: Get parking space line data and obstacle data; Identify parent-child parking spaces based on the parking space line data and the obstacle data.

16. A parking control device, characterized in that: The device is used to: Get parking space line data and obstacle data; Identify parent-child parking spaces based on the parking space line data and the obstacle data; Based on the recognition result of the parent-child parking space, the current vehicle is controlled to park in the parent-child parking space.

17. An automatic parking system, characterized in that: comprising the apparatus as claimed in claim 15, or comprising the apparatus as claimed in claim 16.

18. An electronic device, characterized in that: The method comprises a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the method according to any one of claims 1 to 14 when executed by the processor.

19. A vehicle, characterized in that: Including the automatic parking system as claimed in claim 17, or the device as claimed in claim 18.

20. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 14 is implemented.

21. A computer program product, characterized in that A computer program is included which, when executed by a processor, implements the method according to any one of claims 1 to 14.

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