Method and system for carrying out notification when parked vehicle is blocked and vehicle

Abstract

The invention discloses a method and a system for notifying when a parked vehicle is blocked and a vehicle, and belongs to the technical field of intelligent driving automobiles, and the method comprises the following steps: detecting markers around the parked vehicle; simulating obstacles around the parked vehicle according to the markers around the parked vehicle; determining a free space of the parking vehicle according to the surrounding obstacles; when it is monitored that other vehicles approach and stop at the legal exit of the parked vehicle, simulating all tracks capable of driving the parked vehicle out of the parking space in the free space; and if the track capable of driving the parked vehicle out of the parking space does not exist, a notification is sent to related personnel of the other vehicles. According to the invention, the vehicle can be prevented from being blocked by other vehicles for a long time during parking.

Description

Technical Field

[0001] This invention relates to the field of intelligent driving vehicle technology, specifically to a method, system, and vehicle for notifying when a parked vehicle is blocked. Background Art

[0002] ICV (Intelligent Connected Vehicle) represents a technological trend and strategy in the automotive industry. Particularly in the areas of ADAP (Advanced Driver Assistance Systems / Automatic Parking), intelligent cockpits, and connectivity, these technologies are developing rapidly globally and represent important directions for automotive technology advancement.

[0003] like Figure 1 As shown, in a parking scenario, after an autonomous vehicle parks in a parking space, another target vehicle may park and block the autonomous vehicle's exit. Because the driver of the autonomous vehicle is likely not in the car, it is difficult to identify whether the target vehicle is only temporarily parked or parked permanently. Technically, detecting whether the autonomous vehicle can drive out is also a challenge. If it is parked permanently, without notifying the target vehicle, the autonomous vehicle driver may return to the car and be unable to drive out of the parking space when needed.

[0004] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of the present invention, and therefore may contain information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0005] To address the problems existing in the prior art, this invention provides a method for updating a neural network prediction model that provides timely and reliable updates while also being interpretable, thereby overcoming the problems existing in the prior art.

[0006] To address the problems existing in the prior art, the present invention provides a parking obstruction notification method and system to overcome the shortcomings of the prior art. It can promptly issue a notification when other vehicles block the legal exit of the parking space after an autonomous vehicle has parked, so as to avoid the vehicle being blocked by other vehicles for a long time during the parking period.

[0007] This invention provides a method for notifying when a parked vehicle is blocked, comprising: detecting markers around the parked vehicle; simulating obstacles around the parked vehicle based on the markers; determining the free space of the parked vehicle based on the surrounding obstacles; when other vehicles are detected approaching and stopping at the legal exit of the parked vehicle, simulating all possible trajectories within the free space that could drive the parked vehicle out of the parking space; if no trajectory exists that could drive the parked vehicle out of the parking space, sending a notification to the relevant personnel of the other vehicles.

[0008] According to one embodiment of the present invention, the marker may include one or more of other parked vehicles, parking lines, and cones.

[0009] According to one embodiment of the present invention, the step of simulating obstacles around the parked vehicle based on markers around the parked vehicle includes: modeling a spatial environment in two-dimensional or three-dimensional space using markers to simulate obstacles around the parked vehicle. Specifically, the parking spaces marked by the parking lines are modeled as other parked vehicles.

[0010] According to an embodiment of the present invention, the step of simulating all trajectories that can drive the parked vehicle out of the parking space in free space includes: simulating multiple reciprocating drives, each reciprocating drive turning at a different angle and / or each reciprocating drive ending at a different position.

[0011] According to one embodiment of the present invention, before sending a notification to the relevant personnel of the other vehicles, it is determined whether the other vehicles have been parked for an extended period of time. If the determination is yes, a notification is sent to the relevant personnel of the other vehicles; if the determination is no, the notification is cancelled.

[0012] According to an embodiment of the present invention, the step of determining whether other vehicles have stayed for a long time includes: detecting whether someone appears from the driver's side of other vehicles and leaves the other vehicles at a set distance; if so, it is determined to be a long-term stay; if not, it is determined to be a short-term stay.

[0013] According to one embodiment of the present invention, the method of sending notifications to relevant personnel in other vehicles includes: sending notifications directly through the parked vehicle and / or sending notifications via wireless communication.

[0014] According to one embodiment of the present invention, the notification sent directly through a parked vehicle includes displaying a visual notification and / or issuing an audio notification.

[0015] According to one embodiment of the present invention, the step of issuing a notification via wireless communication includes: sending a wireless signal to a server, which is then forwarded to a mobile communication device matched with the other vehicle.

[0016] According to one embodiment of the present invention, the information content included in the wireless signal includes at least one of the parked vehicle ID, text captured by the parked vehicle, image captured by the parked vehicle, and other vehicle IDs identified by the parked vehicle.

[0017] According to another aspect of the present invention, a system for notifying when a parked vehicle is blocked is provided, comprising a detection module, a processing module, and an alert module disposed on the parked vehicle, wherein: the detection module and the alert module are both communicatively connected to the processing module; the detection module is used to detect markers around the parked vehicle and monitor whether other vehicles approach and stop at the legal exit of the parked vehicle; the alert module is used to issue a notification directly and / or issue a notification via wireless communication; the processing module is used to: simulate obstacles around the parked vehicle based on the markers around the parked vehicle, determine the free space of the parked vehicle based on the surrounding obstacles, and if other vehicles approach and stop at the legal exit of the parked vehicle, simulate all trajectories within the free space that could drive the parked vehicle out of the parking space, and if no trajectory exists that could drive the parked vehicle out of the parking space, control the alert module to send a notification to the relevant personnel of the other vehicles.

[0018] According to one embodiment of the present invention, the processing module uses markers to model the spatial environment in two-dimensional or three-dimensional space to simulate obstacles around the parked vehicle. Specifically, parking spaces marked by parking lines are modeled as other parked vehicles.

[0019] According to another aspect of the invention, a vehicle is provided that includes a system capable of implementing the method described above for notifying when a parked vehicle is blocked.

[0020] According to another aspect of the present invention, a computer device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the method described above for notifying when a parked vehicle is blocked.

[0021] According to another aspect of the present invention, a computer-readable storage medium is also provided, on which a computer program is stored, which, when executed by a processor, implements the steps of the method described above for notifying when a parked vehicle is blocked.

[0022] According to another aspect of the present invention, a computer program product is also provided, comprising computer instructions that, when executed by a processor, implement the steps of the method described above for notifying when a parked vehicle is blocked.

[0023] In the solution disclosed in this invention, when the parked vehicle is in a parking space, the surrounding environment is monitored. When other vehicles are found parked around the parked vehicle and blocking its legal exit, the driver of the other vehicle is notified directly or via wireless communication, thereby preventing the parked vehicle from being blocked for an extended period while parked. This invention uses markers to simulate surrounding obstacles, preventing adjacent empty parking spaces from being identified as legal exits and avoiding the failure to provide timely alerts when adjacent vehicles are vacant and legal exits are blocked. Attached Figure Description

[0024] The above and other features of the invention will now be described in detail with reference to specific exemplary embodiments illustrated in the accompanying drawings. These exemplary embodiments are given by way of illustration only and are not intended to limit the invention.

[0025] Figure 1 This is a schematic diagram of the parked vehicle blocking the parking space;

[0026] Figure 2 This is a flowchart of the parking congestion notification method proposed in this invention;

[0027] Figure 3 This is a flowchart illustrating the specific steps of step S5 in the method of the present invention;

[0028] Figure 4 This is a schematic diagram showing that the legal exit for the parked vehicle is not completely blocked;

[0029] Figure 5 This is a schematic diagram showing that the legal exit for the parked vehicle is completely blocked;

[0030] Figure 6 This is a schematic diagram for determining whether the parked vehicles are causing a prolonged traffic jam;

[0031] Figure 7 This is a schematic diagram illustrating the parking vehicle sending a notification via wireless signal;

[0032] Figure 8 This is a schematic diagram of the installation structure of the display screen on the parked vehicle;

[0033] Figure 9 This is a schematic diagram of the system proposed in this invention for notifying parked vehicles when they are blocked.

[0034] Explanation of reference numerals in the attached figures:

[0035] 1-Parked vehicle, 2-Other vehicles, 3-Server, 4-Mobile communication equipment;

[0036] 11-Display screen, 12-Speaker, 13-Network module, 14-Detection module, 15-Processing module. Detailed Implementation

[0037] The present invention will be described in detail below through specific embodiments to enable those skilled in the art to easily implement the present invention based on the disclosure herein. The embodiments described below are only a part of the embodiments of the present invention, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments described herein without creative effort are within the scope of protection of the present invention. It should be noted that, unless otherwise specified, the embodiments and features described in this specification can be combined with each other.

[0038] The terminology used herein is for illustrative purposes only and is not intended to limit the invention. Unless the context specifically indicates otherwise, the singular forms “a,” “an,” and “the” used herein also include the plural forms “a plurality,” “multiple,” and “the.” The terms “first,” “second,” etc., used herein are used only to distinguish different features, steps, operations, elements, and / or components, and do not indicate any specific technical meaning or necessary logical order between them. The term “a plurality” as used herein can refer to two or more, and the term “at least one” can refer to one, two, or more. Any feature, step, operation, element, and / or component mentioned herein is generally understood to mean one or more unless the context specifically indicates otherwise. It should also be understood that the terms “comprising” and / or “including” as used herein mean the presence of the stated feature, step, operation, element, and / or component, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or a collection thereof. The term “and / or” as used herein includes any or all combinations of one or more of the associated listed items. The suffixes “module” and “unit” used in this article are for ease of description only, and therefore can be used interchangeably without any distinguishing meaning or function.

[0039] Where prior art related to the description of this invention is obvious to those skilled in the art, its detailed description will be omitted. It should also be understood that the description of the various embodiments in this specification emphasizes the differences between them; similarities or identical aspects between embodiments can be referred to mutually, and for the sake of brevity, these will not be elaborated upon.

[0040] Reference Figure 2 and Figure 3 The present invention provides a method for notifying drivers of parking congestion, comprising the following steps:

[0041] Step S1: Detect markers around the parked vehicle. When the vehicle is parked, the surrounding markers are detected. These markers include one or more of other parked vehicles, parking lines, and traffic cones. Detecting these markers helps determine if the vehicle is parked in a parking space and identifies a legal exit for the parked vehicle. In this invention, a legal exit refers to the side from which the parked vehicle 1 can leave the parking space without affecting other vehicles parked normally. The location of the legal exit varies depending on the parking space; for example, it may be located directly in front of the vehicle, directly behind it, or to the left or right of the parked vehicle 1. In a preferred implementation, the markers include other parked vehicles, parking lines, and traffic cones. Those skilled in the art will understand that the more types of markers identified and the more accurate the identification, the more accurate the identification of the parked vehicle's free space.

[0042] According to the present invention, it is necessary to determine whether the parked vehicle 1 is in a parked state. After confirming that it is parked, the surrounding environment and surrounding vehicles are detected. That is, the prerequisites for determining whether the parked vehicle 1 is parked in the parking space include at least one of the following: the speed of the parked vehicle 1 is zero, the engine is off, the car is off, the car is locked, and all seat pressure sensors are off. In a preferred implementation, the parked vehicle 1 is considered to be parked in the parking space if the speed of the parked vehicle 1 is zero, the engine is off, the car is off, the car is locked, and all seat pressure sensors are off. Of course, considering some situations, such as when there are items on the seat, the state of the seat pressure sensors may not be used as a judgment condition. In this way, it can be determined that the vehicle is parked, and the steps of the parking obstruction notification method proposed in this invention can begin.

[0043] After the parked vehicle 1 stops, it is determined whether the parked vehicle 1 is parked in a parking space. In cases where it is not parked in a parking space, it is usually possible to drive out from nearby areas. This application does not consider such cases. The method for determining whether the parked vehicle 1 is parked in a parking space is to use sensors to detect markers around the parked vehicle 1 and determine whether it is parked in a parking space based on the markers around the parked vehicle 1. The markers include one or more of the following: parked cars, parking lines, and cones. The markers vary depending on the environment. When parking on the roadside, the markers may be parking lines, parking space numbers, cars parked in adjacent parking spaces, and curbs, etc. In some open-air parking lots, the markers may also include cones; in some indoor parking lots, the markers may also include wheel chocks, etc. The sensors used to detect the markers include one or more of the following: cameras, radar, and ultrasonic sensors. It should be noted that the radar referred to in this application includes lidar.

[0044] Step S2: Simulate obstacles around the parked vehicle based on the markers around the parked vehicle. In specific implementation, the markers can be used to model the spatial environment in two-dimensional or three-dimensional space to simulate obstacles around the parked vehicle. For example, an empty parking space can be modeled as if a parked vehicle is present, which is equivalent to predicting that the vacant space will become a space with obstacles. Since this invention uses parking lines as one of the markers and treats adjacent empty parking spaces as obstacles, it can avoid mistaking adjacent empty parking spaces for legitimate exits. This prevents the parked vehicle from mistakenly identifying adjacent empty parking spaces as legitimate exits when legitimate exits are blocked, thus avoiding failure to promptly notify the authorities, or even incorrectly notifying the authorities when adjacent empty parking spaces are occupied by other vehicles.

[0045] Step S3: Determine the free space of the parked vehicle based on the surrounding obstacles; in specific implementation, the free space of the parked vehicle refers to the space enclosed by the simulated obstacles, within which the parked vehicle can move.

[0046] Step S4: When other vehicles are detected approaching and stopping at the legal exit of the parked vehicle, simulate all possible trajectories for the parked vehicle to exit the parking space within the free space. It should be noted that the other vehicles 2 referred to in this embodiment are not vehicles normally parked in the parking space. In specific implementation, the location of the legal exit can be confirmed when the parked vehicle 1 is confirmed to be parked in the parking space, or the location of the legal exit can be confirmed when other vehicles 2 are detected approaching. In this embodiment, it is preferable to confirm the location of the legal exit immediately after confirming that the parked vehicle 1 is parked in the parking space. That is, after the parked vehicle 1 is parked in the parking space, surrounding obstacles are simulated based on markers; and the free space of the parked vehicle 1 is determined based on the surrounding obstacles. The simulation of surrounding obstacles based on markers includes the following: When the parked vehicle 1 has parking lines on one side, i.e., a quadrilateral parking space line, even if there is no car in the space at the moment, other vehicles may park there at any time. Therefore, after simulating the surrounding obstacles around the parking space enclosed by the parking space lines, usually only one side is free of obstacles, and this side is the legal exit. Generally speaking, if no other vehicle space is occupied during parking, the entry point to the parking space is the legal exit. If there are more than one legal exit, an obstacle can be simulated on the side when one legal exit is blocked, until the last legal exit is blocked, at which point a notification is issued. It should be noted that free space refers to the space around the parked vehicle excluding obstacles, which allows the parked vehicle to move to a certain extent.

[0047] After determining a legal exit, it continuously monitors whether other vehicles 2 will obstruct the legal exit of the parked vehicle 1. Specifically, please refer to... Figure 4 and Figure 5 When another vehicle 2 is detected slowing down and stopping at the legal exit of the parked vehicle 1, all possible trajectories that could drive the parked vehicle 1 out of the parking space are simulated within the free space. For example... Figure 4 As shown, if there is at least one trajectory that allows the parked vehicle 1 to exit the parking space, then it is considered that there is no congestion and no notification needs to be sent. Figure 5 As shown, if no trajectory allows the parked vehicle 1 to exit the parking space, other vehicles 2 will block the legal exit of the parked vehicle 1. In some implementations, multiple minimum zones for safe exit can be pre-defined, and the actual free space can be compared with these minimum zones to determine whether exit is possible. In this embodiment, possible trajectories can be simulated within the free space to determine whether the parked vehicle 1 can safely exit. Specifically, the method for simulating all possible trajectories that could drive the parked vehicle 1 out of the parking space within the free space includes simulating multiple back-and-forth drives, each back-and-forth turning at a different angle and / or each back-and-forth trajectory ending at a different position.

[0048] In a preferred implementation, multiple round trips are simulated, each with a different turning angle and / or each trajectory ending at a different location. Whether to send a notification is determined based on whether a trajectory capable of driving the parked vehicle out of the parking space can be simulated.

[0049] In one or more embodiments of the present invention, only the sensor can be left to perform detection, while other components are in sleep mode. When it is detected that another vehicle 2 decelerates and stops at the legal exit of the parked vehicle 1, a corresponding signal is generated to wake up the corresponding component.

[0050] Step S5: If no trajectory exists that allows the parked vehicle to leave the parking space, a notification is sent to the relevant personnel of the other vehicles. These personnel can be the vehicle owner, driver, or passengers; the notification method may vary depending on the specific circumstances. If no trajectory exists that allows the parked vehicle to leave the parking space, it indicates that the other vehicles are blocking the legal exit for the parked vehicle. (Refer to...) Figure 5 Step S5 may specifically include: Step S51, determining whether there is a trajectory that can drive the parked vehicle out of the parking space; if yes, then proceed to step S52, that is, continue monitoring other vehicles in the vicinity, and then proceed to step S4; if no, then proceed to step S53, that is, send a notification to the relevant personnel of the other vehicles.

[0051] It should be noted that, in this embodiment, "other vehicles 2" refers to vehicles that are detected as potentially blocking the parked vehicle 1. In this embodiment, the parked vehicle 1 can be an unmanned vehicle, a vehicle with an automatic parking system, or a vehicle equipped with a system capable of implementing the method proposed in this embodiment.

[0052] In one or more embodiments of the present invention, sometimes although the parked vehicle 1 is blocked, other vehicles 2 may be temporarily parked and will not affect the exit of the parked vehicle 1. Therefore, it is not always necessary to issue a notification when the parked vehicle 1 is blocked. To this end, the present invention also proposes a preferred implementation. Specifically, refer to Figure 6 Before sending a notification to personnel associated with other vehicles 2, it is determined whether other vehicles 2 will remain stationary for an extended period. If so, a notification is sent to the personnel associated with those vehicles; otherwise, the notification is cancelled. This method avoids unnecessarily frequent warnings.

[0053] In one or more embodiments of the present invention, a method for determining whether another vehicle 2 has been parked for an extended period includes detecting whether someone appears from the driver's side of the other vehicle 2 and moves away from the other vehicle 2 at a distance reaching a predetermined value. If so, it is considered a long-term stop; otherwise, it is considered a short-term stop. When it is detected that someone appears from the driver's side of the other vehicle 2 and moves away from the other vehicle 2 at a distance reaching the predetermined value, it is considered that the driver has left the vehicle, and the other vehicle 2 is highly likely to have been parked for an extended period. In specific implementations, the predetermined value can be 5 meters, 10 meters, 15 meters, 20 meters, 25 meters, 30 meters, 35 meters, 40 meters, 45 meters, 50 meters, 55 meters, 60 meters, 65 meters, 70 meters, 75 meters, 80 meters, 85 meters, or 90 meters, etc.

[0054] Notifications are sent based on the length of time other vehicles 2 are parked. Specifically, a notification is sent to other vehicles 2 when the parking is prolonged. No notification is sent to other vehicles 2 when the parking is short. In some cases, notifications may be sent directly to the parked vehicle 1 as described above, including but not limited to visual or audio reminders.

[0055] In one or more embodiments of the present invention, please refer to Figure 7 and Figure 8The method for sending notifications to other vehicles 2 includes sending notifications directly through the parked vehicle 1 and / or sending notifications wirelessly. That is, notifications can be sent directly through the parked vehicle 1 by installing an audible and visual alarm device or a display device on the parked vehicle 1. Specifically, sending notifications directly through the parked vehicle 1 includes displaying visual notifications and / or issuing audio notifications. The method for displaying visual notifications is to display visual information on a display located on the outer side of the parked vehicle 1. For example, visual information can be displayed and audio notifications can be issued through a display and an external speaker 12 located on the exterior of the parked vehicle 1.

[0056] In one or more embodiments of the present invention, the visualized information includes at least one of text, still images, and videos. It is understood that icons are also a type of still image, animations are also a type of video, and silent animations and silent videos are also included within the video content referred to in this application.

[0057] In one or more embodiments of the present invention, when it is detected that another vehicle 2 has been parked for an extended period, the driver of the other vehicle 2 may already be quite far from the parked vehicle 1, making it difficult to effectively notify the driver solely through the display and external speaker 12 on the exterior of the parked vehicle 1. In this case, a notification can be sent simultaneously via wireless communication. The method of sending a notification via wireless communication includes sending a wireless signal to a server 3 for forwarding to a corresponding mobile device. The corresponding mobile device includes a mobile communication device 4 matched with the other vehicle 2 and / or a mobile communication device 4 matched with the parked vehicle 1. That is, in practical applications, the server 3 can directly send the wireless signal to the mobile communication device 4 of the owner of the other vehicle 2, or directly to the mobile device corresponding to the parked vehicle 1, and then the owner of the parked vehicle 1 can confirm whether to send the signal to the owner of the other vehicle 2; alternatively, the signal can be directly sent to both the mobile devices corresponding to the other vehicle 2 and the mobile device corresponding to the parked vehicle 1. Specifically, the other vehicle 2 owner can be notified through an application on the mobile device, and upon receiving the notification, the corresponding mobile device should be able to output at least one of visual, auditory, and tactile warnings.

[0058] The information contained in the wireless signal includes at least one of the following: the parked vehicle ID, text captured by the parked vehicle, an image captured by the parked vehicle, and other vehicle IDs identified by the parked vehicle. Specifically, the parked vehicle 1 ID can be the license plate number of parked vehicle 1, and the other vehicle 2 ID can be the license plate number of other vehicle 2. The text captured by parked vehicle 1 refers to the text content of a notification generated by parked vehicle 1 based on the actual situation.

[0059] In one or more embodiments of the present invention, when a legitimate exit is determined to be blocked, whether the blockage is prolonged or short-term, a notification is directly issued via a display device or speaker on the exterior of the parked vehicle 1. If a prolonged blockage is determined, the parked vehicle 1 then sends a wireless signal to the online server 3 to send a notification to mobile devices bound to other vehicles 2.

[0060] In one or more embodiments of the present invention, it is also possible to determine whether other vehicles 2 are driverless vehicles. When other vehicles 2 are driverless vehicles, a notification can also be sent to other vehicles 2 after communication is established.

[0061] In addition, the present invention also provides a parking congestion notification system, please refer to... Figure 9 The system includes a detection module 14, a processing module 15, and a warning module installed on the autonomous vehicle. In specific implementations, the detection module 14 is a sensor, which can be one or more of the following: a camera, radar, lidar, and ultrasonic sensors.

[0062] Both the detection module 14 and the warning module are communicatively connected to the processing module 15; the processing module 15 is used to control the warning module to issue a warning based on the detection results of the detection module 14. Specifically, the detection module 14 is used to detect the markers around the parked vehicle 1, and to monitor whether other vehicles 2 approach and stop at the legal exit of the parked vehicle 1.

[0063] The processing module 15 is used to: simulate obstacles around the parked vehicle based on the markers around the parked vehicle; determine the free space of the parked vehicle based on the surrounding obstacles; if other vehicles approach and stop at the legal exit of the parked vehicle, simulate all possible trajectories within the free space that could drive the parked vehicle out of the parking space; and if no trajectories exist that could drive the parked vehicle out of the parking space, control the warning module to send a notification to the relevant personnel of the other vehicles. Specifically, the processing module 15 is used to, for example, determine whether the parked vehicle 1 is parked in a parking space by acquiring information about the area around the parked vehicle 1, determine the legal exit position of the parked vehicle 1, and determine whether the legal exit position is blocked; determine whether someone appears from the driver's side of another vehicle 2, and whether the distance from the other vehicle 2 reaches a set value; and, in the process of determining whether the legal exit position is blocked, also simulate multiple back-and-forth driving. Based on the above judgment results, a control signal is sent to the warning module to issue a warning.

[0064] In this embodiment, please refer to Figure 7 and Figure 8The warning module includes a display screen 11, a speaker 12, and a network module 13, all mounted on the parked vehicle 1. Both the display screen 11 and the speaker 12 are connected to the processing module 15 to directly display notification content to occupants of other vehicles 2 via sound and / or light. The display screen 11 should be mounted on the outer surface of the parked vehicle 1, preferably with displays 11 on all four sides. When the parked vehicle 1 is blocked, the display screen 11 on the same side as the legal exit displays the corresponding information.

[0065] In specific implementation, the system also includes a server 3 and a mobile communication device 4. The network module 13 is electrically connected to the processing module 15. Both the network module 13 and the mobile communication device 4 are communicatively connected to the server 3, and the mobile communication device 4 is matched with the other vehicles. When the network module 13 receives an instruction from the processing module 15 to send a wireless signal notification, it sends a wireless signal notification to the server 3, and the server 3 sends the wireless signal to the corresponding mobile communication device 4.

[0066] In some implementations, a buzzer can also be used to provide a notification through a specific sound signal.

[0067] Furthermore, the present invention also provides a vehicle, which includes a system capable of implementing the parking congestion notification method described in this specification. At least one side of the vehicle's outer surface should be provided with a display screen 11. Specifically, the method for directly displaying notification information in the parked vehicle 1 is to display the notification content on the display screen 11 provided in the vehicle.

[0068] Furthermore, this application also provides a computer device. According to an embodiment of the present invention, the computer device may include a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it can implement the steps of the method for notifying when a parked vehicle is blocked, as described in this specification.

[0069] Furthermore, this application also provides a computer-readable medium, which may be included in the apparatus described in the above embodiments; or it may exist independently and not assembled into the apparatus. The computer-readable medium carries one or more programs that, when executed by the apparatus, enable the apparatus to perform the steps of the method for notifying when a parked vehicle is blocked, as described in this specification.

[0070] In addition, this application also provides a computer program product, including computer instructions that, when executed by a processor, can implement the steps of the method for notifying when a parked vehicle is blocked, as described in this specification.

[0071] In particular, the embodiment processes described above with reference to the flowcharts in the accompanying drawings can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts in the drawings, and the methods of this application being executed by a processor.

[0072] It should be noted that the computer-readable medium described in this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. Computer-readable storage media can be, for example,, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0073] In this application, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in connection with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wireless, wireline, optical fiber, RF, etc., or any suitable combination thereof.

[0074] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof. These programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, 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 it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0075] It should be noted that the flowcharts and block diagrams in the accompanying drawings exemplify the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. Each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than shown in the drawings. For example, two blocks shown sequentially may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0076] The units or modules involved in the embodiments of this application can be implemented in software or hardware. These units or modules can also be housed in a processor; for example, it can be described as: a processor including a determination module, a control module, etc. The names of these units or modules do not necessarily constitute a limitation on the unit or module itself in certain circumstances.

[0077] All references mentioned in this specification are incorporated herein by reference as if each reference were incorporated herein by reference in its entirety.

[0078] Furthermore, it should be understood that after reading the above description of the present invention, those skilled in the art can make various alterations or modifications to the present invention, and these equivalent forms also fall within the protection scope of the present invention.

Claims

1. A method for notifying when a parked vehicle is blocked, characterized in that, include: Inspect the markers around parked vehicles; The obstacles around the parked vehicle are simulated based on the markers around the parked vehicle; The free space of the parked vehicle is determined based on the surrounding obstacles; When other vehicles are detected approaching and stopping at the legal exit of the parked vehicle, all possible trajectories that could drive the parked vehicle out of the parking space are simulated within the free space. If there is no trajectory that can drive the parked vehicle out of the parking space, a notification is sent to the relevant personnel of the other vehicles.

2. The method for notifying when a parked vehicle is blocked, as described in claim 1, is characterized in that, The signage includes one or more of other parked vehicles, parking lines, and cones.

3. The method for notifying when a parked vehicle is blocked, as described in claim 2, is characterized in that... The step of simulating obstacles around the parked vehicle based on the markers around the parked vehicle includes: modeling a spatial environment in two-dimensional or three-dimensional space using the markers to simulate obstacles around the parked vehicle; wherein the parking space marked by the parking line is modeled as other parked vehicles.

4. The method for notifying when a parked vehicle is blocked, as described in claim 1, is characterized in that... The step of simulating all trajectories that can drive the parked vehicle out of the parking space in free space includes: simulating multiple back-and-forth driving, each back-and-forth turning at a different angle and / or each back-and-forth trajectory ending at a different position.

5. The method for notifying when a parked vehicle is blocked, as described in claim 1, is characterized in that... Before sending a notification to the relevant personnel of the other vehicles, it is determined whether the other vehicles have been parked for an extended period of time. If the determination is yes, a notification is sent to the relevant personnel of the other vehicles; if the determination is no, the notification is cancelled.

6. The method for notifying when a parked vehicle is blocked, as described in claim 5, is characterized in that... The step of determining whether other vehicles have been staying for a long time includes: detecting whether someone appears from the driver's side of another vehicle and moves away from the other vehicle at a set distance; if so, it is determined to be a long-term stay; if not, it is determined to be a short-term stay.

7. The method for notifying when a parked vehicle is blocked, as described in claim 1, is characterized in that... The method for sending notifications to relevant personnel in other vehicles includes: sending notifications directly through the parked vehicle and / or sending notifications via wireless communication.

8. The method for notifying when a parked vehicle is blocked, as described in claim 7, is characterized in that... The notification sent directly through a parked vehicle includes displaying a visual notification and / or issuing an audio notification.

9. The method for notifying when a parked vehicle is blocked, as described in claim 7, is characterized in that... The step of issuing a notification via wireless communication includes: sending a wireless signal to a server, which is then forwarded to a mobile communication device matched with the other vehicle.

10. The method for notifying when a parked vehicle is blocked according to claim 9, characterized in that, The information contained in the wireless signal includes at least one of the parked vehicle ID, text captured by the parked vehicle, image captured by the parked vehicle, and other vehicle IDs identified by the parked vehicle.

11. A system for notifying when a parked vehicle is blocked, characterized in that, This includes a detection module, a processing module, and a warning module installed on parked vehicles, among which: Both the detection module and the warning module are communicatively connected to the processing module. The detection module is used to detect the markers around the parked vehicle and to monitor whether other vehicles approach and stop at the legal exit of the parked vehicle. The alert module is used to send notifications directly and / or via wireless communication; The processing module is used to: simulate obstacles around the parked vehicle based on the markers around the parked vehicle; determine the free space of the parked vehicle based on the surrounding obstacles; if other vehicles approach and stop at the legal exit of the parked vehicle, simulate all trajectories that can drive the parked vehicle out of the parking space within the free space; and if there are no trajectories that can drive the parked vehicle out of the parking space, control the warning module to send a notification to the relevant personnel of the other vehicles.

12. The system for notifying when a parked vehicle is blocked, as described in claim 11, is characterized in that, The processing module uses the markers to model the spatial environment in two-dimensional or three-dimensional space to simulate obstacles around the parked vehicle; wherein, the parking spaces marked by the parking lines are modeled as other parked vehicles.

13. A vehicle, characterized in that, Includes a system capable of implementing the method described in any one of claims 1-10.

14. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the method according to any one of claims 1-10.

15. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the program implements the steps of the method described in any one of claims 1-10.

16. A computer program product comprising computer instructions, characterized in that, When executed by a processor, the computer instructions implement the steps of the method described in any one of claims 1-10.

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