Display method and device of parking data and electronic equipment

Abstract

The invention discloses a parking data display method and device and electronic equipment. According to the specific scheme, first parking data generated in the parking process of a target vehicle and parking environment data of a parking environment to which the target vehicle belongs are obtained, and the target vehicle is parked based on second parking data calculated based on a target parking algorithm; based on the subscribed topic information, performing information three-dimensional reconstruction on the obtained first parking data and parking environment data to obtain a simulated parking route and simulated environment information of the target vehicle; and displaying the simulated parking route of the target vehicle under the simulated environment information in the current page. According to the invention, the parking processing process of controlling the target vehicle based on the target parking algorithm is visually displayed, the target parking algorithm can be conveniently adjusted and updated subsequently according to the displayed content, and the intuition and accuracy of debugging the target parking algorithm are improved.

Description

Technical Field

[0001] This invention relates to the field of data processing technology, and in particular to a method, apparatus, and electronic device for displaying parking data. Background Technology

[0002] Automated Valet Parking (AVP) technology is the application of autonomous driving technology in parking scenarios, enabling vehicles to automatically complete parking tasks without human intervention.

[0003] Currently, when testing parking algorithms for autonomous valet parking technology, the primary method is to determine whether adjustments to the algorithm are needed based on the test results of the corresponding test cases. However, this approach is not intuitive and makes it difficult to effectively assess the detailed planning of the vehicle by the parking algorithm, thus failing to guarantee the comprehensiveness and accuracy of adjustments and improvements to the parking algorithm. Summary of the Invention

[0004] This invention provides a method, device, and electronic device for displaying parking data, enabling the visualization of the parking process of a target vehicle controlled by a target parking algorithm.

[0005] According to one aspect of the present invention, a method for displaying parking data is provided, the method comprising:

[0006] The system acquires the first parking data generated during the parking process of the target vehicle and the parking environment data of the parking environment to which the target vehicle belongs. The target vehicle parks based on the second parking data calculated by the target parking algorithm.

[0007] Based on the subscribed topic information, the acquired first parking data and parking environment data are reconstructed in three dimensions to obtain the simulated parking route and simulated environment information of the target vehicle.

[0008] The current page displays the simulated parking route for the target vehicle in a simulated environment.

[0009] According to another aspect of the present invention, a parking data display device is provided, the device comprising:

[0010] The data acquisition module is used to acquire the first parking data generated by the target vehicle during the parking process and the parking environment data of the parking environment to which the target vehicle belongs. The target vehicle parks based on the second parking data calculated by the target parking algorithm.

[0011] The information 3D reconstruction module is used to perform information 3D reconstruction on the acquired first parking data and parking environment data based on the subscribed topic information, so as to obtain the simulated parking route and simulated environment information of the target vehicle;

[0012] The data display module is used to show the simulated parking route of the target vehicle in the simulated environment on the current page.

[0013] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0014] At least one processor; and

[0015] A memory that is communicatively connected to at least one processor; wherein,

[0016] The memory stores a computer program that can be executed by at least one processor, such that the at least one processor is able to execute the parking data display method of any embodiment of the present invention.

[0017] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement a parking data display method according to any embodiment of the present invention.

[0018] According to another aspect of the present invention, a computer program product is provided, comprising a computer program, characterized in that, when executed by a processor, the computer program implements a parking data display method as described in any embodiment of the present invention.

[0019] The technical solution of this invention, during the parking process of a target vehicle controlled by a target parking algorithm, acquires the first parking data generated by the target vehicle during parking and the parking environment data of the target vehicle's parking environment, providing data support for subsequent data visualization. After subscribing to the topic information generated from the first parking data and parking environment data, three-dimensional reconstruction of the acquired data can be performed to obtain the simulated parking route and simulated environment information of the target vehicle. The simulated parking route of the target vehicle under the simulated environment information is displayed on the current page, allowing for adjustments and updates to the target parking algorithm based on the displayed content. This invention solves the problem in existing technologies where the debugging of parking algorithms is not intuitive, leading to a lack of comprehensiveness and accuracy in adjusting the parking algorithm. By visualizing the parking process of the target vehicle controlled by the target parking algorithm, it facilitates subsequent adjustments and updates to the target parking algorithm based on the displayed content, improving the intuitiveness and accuracy of the target parking algorithm debugging.

[0020] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a flowchart of a parking data display method provided in an embodiment of the present invention;

[0023] Figure 2 This is a flowchart of a parking data display method provided in an embodiment of the present invention;

[0024] Figure 3 This is a flowchart illustrating a method for displaying parking data provided in an embodiment of the present invention;

[0025] Figure 4 This is a schematic diagram of the structure of a parking data display device provided in an embodiment of the present invention;

[0026] Figure 5 This is a schematic diagram of the structure of an electronic device that implements the parking data display method of this invention. Detailed Implementation

[0027] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0029] Before introducing this technical solution, the application scenarios can be explained first. The technical solution provided by this invention can be applied to any scenario that requires the display of parking data. For example, during the debugging of a target parking algorithm, the process of controlling a target vehicle to park can be controlled by displaying the target parking algorithm, allowing for adjustments and updates to the target parking algorithm. Similarly, during actual parking by a driver using the target parking algorithm, the parking process can be displayed using parking data.

[0030] It should be noted that the solutions provided in the embodiments of this invention can be integrated into any scenario requiring the display of the parking process, so as to display the parking process through parking data. Alternatively, the technical solutions provided in the embodiments of this invention can be integrated into a plugin and deployed in any scenario requiring the display of the parking process.

[0031] Example 1

[0032] Figure 1 This is a flowchart of a parking data display method provided in Embodiment 1 of the present invention. This embodiment is applicable to any situation requiring parking data display. The method can be executed by a parking data display device, which can be implemented in hardware and / or software. This parking data display device can be configured in electronic devices such as mobile phones, computers, or servers. Figure 1 As shown, the method includes:

[0033] S110. Obtain the first parking data and the parking environment data of the parking environment to which the target vehicle belongs during the parking process, wherein the target vehicle parks based on the second parking data calculated by the target parking algorithm.

[0034] The target vehicle can be the vehicle currently requiring parking. The target vehicle is parked based on the second parking data determined by the target parking algorithm. In the scenario of testing the target parking algorithm, the target parking algorithm is the parking algorithm to be tested, and the second parking data can be the parking data determined by the target parking algorithm. The second parking data includes the desired parking path, multiple estimated anchor points on the desired parking path, the estimated position information corresponding to each estimated anchor point, and the estimated heading angle. The desired parking path can be the path that the target vehicle is expected to travel when parking, calculated by the target parking algorithm. The estimated anchor point, or pre-aiming point, can be the position point that the target vehicle is expected to reach. The estimated position information can be understood as the position coordinates corresponding to the estimated anchor point. The estimated heading angle can be the heading angle that the target vehicle is expected to travel.

[0035] The first parking data can be the parking data generated when the target vehicle is controlled to park based on the target parking algorithm. The first parking data includes the position coordinates and actual heading angles of multiple actual location points of the target vehicle during the parking process. The actual location points can be the positions the target vehicle has reached during the parking process. It should be noted that the position coordinates of the target vehicle at the actual location points and the position coordinates corresponding to the estimated position information of the estimated anchor points belong to the same coordinate system. Optionally, this coordinate system can be a coordinate system with the intersection of the prime meridian and the equator as the origin, east as the positive x-axis, and north as the positive y-axis. The parking environment of the target vehicle can be the surrounding environment of the target vehicle when it is parking. Parking environment data can include data on the surrounding environment of the target vehicle during the parking process. For example, the position and shape information of pedestrians, vehicles, and other objects around the target vehicle.

[0036] Specifically, the target vehicle is controlled to park using the second parking data determined by the target parking algorithm. During this parking process, the first parking data generated by the target vehicle is acquired, namely, the position coordinates and actual heading angles of multiple actual locations of the target vehicle during the parking process. Simultaneously, parking environment data of the target vehicle's parking environment is acquired.

[0037] Optionally, during the parking process of the target vehicle, parking environment data can be obtained in the following ways: image data of the parking environment is collected based on a camera device deployed on the target vehicle and / or point cloud data of the parking environment is collected based on lidar; by processing the image data and / or point cloud data, parking environment data of the parking environment of the target vehicle can be obtained.

[0038] The camera device can be pre-deployed at a predetermined location on the target vehicle to acquire images of the parking environment. The image data of the parking environment can include images of pedestrians, other vehicles, and other objects within a predetermined distance range from the target vehicle. The lidar is used to acquire point cloud data of the parking environment. The point cloud data can include three-dimensional point cloud data of pedestrians, other vehicles, and other objects within a predetermined distance range from the target vehicle.

[0039] Specifically, image data of pedestrians, vehicles, and other objects within a preset distance range from the target vehicle is collected using camera devices deployed on the target vehicle. And / or point cloud data of pedestrians, vehicles, and other objects within a preset distance range from the target vehicle is collected using lidar. Parking environment data of the target vehicle's parking environment is obtained by analyzing the collected image data and / or point cloud data.

[0040] S120. Based on the subscribed topic information, perform three-dimensional reconstruction of the acquired first parking data and parking environment data to obtain the simulated parking route and simulated environment information of the target vehicle.

[0041] In this embodiment of the invention, the subscribed topic information includes the topic corresponding to the first parking data and the topic corresponding to the parking environment data. Information 3D reconstruction can be performed on the first parking data, that is, to visualize the real-time location of the target vehicle when parking, its actual driving position, and the corresponding actual parking route in 3D. Information 3D reconstruction can also be performed on the parking environment of the target vehicle using parking environment data to visualize its parking environment in 3D. The simulated parking route can be a parking route determined after the 3D reconstruction of the first parking data, consistent with the actual parking route of the target vehicle. The simulated environment information can be the environmental information corresponding to the parking environment of the target vehicle after the 3D reconstruction of the parking environment data.

[0042] Specifically, after acquiring the initial parking data, a topic containing that data can be published. After acquiring parking environment data, a topic corresponding to that data can be published. After publishing a topic, users can subscribe to it and receive information about that topic. Based on the subscribed topic information, the acquired initial parking data is reconstructed in 3D to obtain a simulated parking route for the target vehicle. Based on the subscribed topic information, the acquired parking environment data is reconstructed in 3D to obtain simulated environment information for the target vehicle's parking environment.

[0043] It should be noted that after obtaining the initial parking data and parking environment data, topics containing both data can be generated, or topics corresponding to both the initial parking data and the parking environment data can be generated. This allows relevant visualization tools or platforms associated with the control system to subscribe to these topics and perform 3D reconstruction processing on the data contained within each topic. For example, if only the topic corresponding to the initial parking data is subscribed to, 3D reconstruction processing can be performed on the initial parking data to obtain the corresponding simulated parking route. Similarly, if only the topic corresponding to the parking environment data is subscribed to, 3D reconstruction processing can be performed on the parking environment data to obtain the corresponding simulated environment information.

[0044] S130. Display the simulated parking route of the target vehicle in the simulated environment on the current page.

[0045] The current page can be a page used to display the parking process of the target vehicle. Optionally, the current page can be a pre-set display interface. In scenarios where the target parking algorithm is being tested, the current page can be the display page of a visualization tool or platform associated with the control system. Optionally, in a target vehicle parking application scenario, the current page can be the interface of the target vehicle's central control display screen.

[0046] Specifically, after obtaining the simulated parking route and simulated environment information of the target vehicle, the simulated parking route of the target vehicle under the simulated environment information can be displayed on the current page, so that the corresponding user can intuitively determine the parking process of the target vehicle.

[0047] The technical solution of this embodiment acquires the first parking data and the parking environment data of the target vehicle's parking environment during the parking process controlled by the target parking algorithm, providing data support for subsequent data visualization. After subscribing to the topic information generated from the first parking data and parking environment data, three-dimensional reconstruction of the acquired data can be performed to obtain the simulated parking route and simulated environment information of the target vehicle. The simulated parking route of the target vehicle under the simulated environment information is displayed on the current page, allowing for adjustments and updates to the target parking algorithm based on the displayed content. This invention solves the problem in existing technologies where the debugging of parking algorithms is not intuitive, leading to a lack of comprehensiveness and accuracy in adjusting the algorithm. By visualizing the parking process of the target vehicle controlled by the target parking algorithm, it facilitates subsequent adjustments and updates to the target parking algorithm based on the displayed content, improving the intuitiveness and accuracy of the target parking algorithm debugging.

[0048] Example 2

[0049] Figure 2 This is a flowchart illustrating a parking data display method according to Embodiment 2 of the present invention. This embodiment is a preferred embodiment of the above embodiments. Specific implementation details can be found in the technical solution of this embodiment. Technical terms that are the same as or corresponding to those in the above embodiments will not be repeated here. Figure 2 As shown, the method includes:

[0050] S210. Obtain the first parking data and the parking environment data of the parking environment to which the target vehicle belongs during the parking process, wherein the target vehicle parks based on the second parking data calculated by the target parking algorithm.

[0051] S220. Based on parking environment data, determine the traffic participation elements of the parking environment to which the target vehicle belongs, as well as the obstacle information of the traffic participation elements in the parking environment.

[0052] The obstacle information includes at least the obstacle type, obstacle size, and obstacle location, where the obstacle location is the coordinate information of the obstacle in the target coordinate system. Traffic participation elements can be understood as various subjects and factors that directly or indirectly participate in traffic activities related to the target vehicle and affect its parking. Optionally, traffic participation elements may include pedestrians, vehicles, and other objects in the parking environment of the target vehicle. The obstacle type in the obstacle information can be used to characterize the type of traffic participation element. Optionally, traffic participation elements can be divided into three obstacle types: obstacle-human type, obstacle-vehicle type, and other obstacle types. The obstacle size can be understood as the length, width, and height dimensions of the traffic participation element. The obstacle location can be the coordinate information of the obstacle in the target coordinate system. The coordinate information corresponding to the obstacle location and the position coordinates of the target vehicle at its actual location must belong to the same coordinate system, i.e., the target coordinate system. The target coordinate system can be a coordinate system with the intersection of the prime meridian and the equator as the origin, east as the positive x-axis, and north as the positive y-axis. Optionally, the target coordinate system can be the Universal Transverse Mercator Coordinate System (UTM).

[0053] Specifically, based on parking environment data, the traffic participation elements of the parking environment to which the target vehicle belongs, and obstacle information such as obstacle type, size, and location for each traffic participation element, are determined. Three-dimensional reconstruction processing is then performed using the traffic participation elements and obstacle information. It should be noted that if the determined obstacle coordinates are relative to the target vehicle, the relative coordinates can be converted to coordinates in the target coordinate system using the following method to obtain the obstacle coordinates for subsequent applications.

[0054] If the pose coordinates of the target vehicle at its actual location point are (x v ,y v ,θ v The relative pose coordinates of the obstacle with respect to the target vehicle are (x, y). r ,y r ,θ r If the target coordinate system contains the target coordinate system, then the coordinate information (x, y, θ) of the obstacle is represented as follows:

[0055] θ=θ v +θ r

[0056]

[0057] It should be noted that θ represents the deflection angle information.

[0058] S230. Using the topic publishing platform, generate a first topic based on the first parking data; and using the topic publishing platform, generate a second topic based on traffic participation elements and obstacle information corresponding to the parking environment data.

[0059] The topic publishing platform can be a pre-set platform used to generate topics based on the first parking data and / or traffic participation elements and obstacle information corresponding to the parking environment data. The first topic can be a topic containing the first parking data. The second topic can be a topic containing traffic participation elements and obstacle information corresponding to the parking environment data.

[0060] Optionally, when displaying simulated environment information and simulated parking routes subsequently, to make the display more intuitive, information such as vehicles, routes, and obstacles can be displayed using corresponding shape, color, and other display attributes. Therefore, display attribute information associated with the first parking data can be set to generate a first topic based on the first parking data and the display attribute information associated with it. Correspondingly, display attribute information associated with traffic participation elements and obstacle information can be set to generate a second topic based on the traffic participation elements and obstacle information and the corresponding display attribute information. The display attribute information may include: display shape type, color, object size, and transparency.

[0061] It should be noted that if the generated first and second topics do not contain the corresponding display attribute information, they can be set according to actual needs when displaying them later.

[0062] Specifically, after obtaining the first parking data and the corresponding traffic participation elements and obstacle information for the parking environment data, a topic publishing platform can be used to generate a first topic from the first parking data. Then, the same platform can be used to generate a second topic from the corresponding traffic participation elements and obstacle information for the parking environment data. Finally, both the first and second topics are published.

[0063] S240. Based on the subscribed topic information, perform three-dimensional reconstruction of the acquired first parking data and parking environment data to obtain the simulated parking route and simulated environment information of the target vehicle.

[0064] The subscribed topics include the first topic and the second topic.

[0065] Optionally, in scenarios where the application is to test a target parking algorithm, the topic publishing platform can be a Robot Operating System (ROS). That is, during the process of controlling the target vehicle to park based on the target parking algorithm, the ROS system obtains the first parking data and generates a topic based on the first parking data and the corresponding display attribute information. This results in a first topic, which is then subscribed to by the rviz platform in the ROS system. The rviz platform then performs 3D reconstruction based on the first parking data and the corresponding display attribute information in the first topic to visualize the simulated parking route. This allows users to observe the real-time parking location and status of the target vehicle on the rviz interface.

[0066] Accordingly, parking environment data is acquired through the ROS system, and the traffic participation elements and obstacle information corresponding to the parking environment data are determined. Based on the traffic participation elements, obstacle information, and corresponding display attribute information, a topic generation process is performed to obtain a second topic. The rviz platform in the ROS system subscribes to this second topic and performs 3D reconstruction based on the traffic participation elements, obstacle information, and corresponding display attribute information in the second topic to visualize the simulated environment information. This allows users to observe the real-time parking environment of the target vehicle on the rviz interface.

[0067] In this embodiment of the invention, the first parking data also includes vehicle data of the target vehicle. The method for obtaining the simulated parking route and simulated environment information of the target vehicle through three-dimensional reconstruction of information using subscribed topic information can be as follows: based on the vehicle data, the position coordinates of multiple actual location points in the first parking data, and the actual heading angle, the target vehicle and its corresponding simulated parking route are reconstructed; based on the traffic participation elements and obstacle information corresponding to the parking environment data, three-dimensional environment reconstruction is performed to obtain the simulated environment information.

[0068] The vehicle data may include the actual dimensions of the target vehicle. This actual dimensions can be used to determine the simulated dimensions of the target vehicle within the generated simulated parking route. In other words, the actual and simulated dimensions of the target vehicle can be proportional.

[0069] Specifically, based on the actual size information of the target vehicle in the vehicle data, the simulated size information of the target vehicle is determined proportionally, and the target vehicle is reconstructed in 3D using the simulated size information. Based on the position coordinates and actual heading angles of multiple actual location points in the first parking data of the target vehicle, the simulated parking route corresponding to the target vehicle during the parking process is reconstructed in 3D. Based on the traffic participation elements and obstacle information corresponding to the parking environment data, a 3D environment reconstruction is performed to obtain the simulated environment information.

[0070] Optionally, 3D reconstruction can be performed by adding corresponding components. Specifically, at least one component can be selected on the current page, and the display attribute information configured for at least one component can be determined. Based on at least one component and the corresponding display attribute information, the simulated parking route and simulated environment information displayed on the current page can be obtained.

[0071] At least one component can be understood as a component used for visualization. Components can include: components corresponding to line segments, components corresponding to spherical points, etc. For example, combining the above example, a MarkerArray component can be added to the RViz platform to represent the actual locations traveled by the target vehicle using spherical points, and the target vehicle can be constructed using line segments in the corresponding component. Display attribute information can be used to determine the display method of the target vehicle, simulated parking route, and simulated parking environment. Display attribute information can include: display shape type, color, object size, and transparency, etc.

[0072] Specifically, based on the vehicle data of the target vehicle, at least one component associated with the 3D reconstruction of the target vehicle is selected on the current page, and the 3D reconstruction of the target vehicle is performed according to the display attribute information in the subscribed first topic or the display attribute information corresponding to the component set according to actual needs.

[0073] On the current page, select at least one component corresponding to the first parking data, and based on the display attribute information carried in the subscribed first topic or the display attribute information corresponding to the component set according to actual needs, perform three-dimensional reconstruction processing on the position coordinates and actual heading angles of multiple actual location points in the first parking data of the target vehicle to obtain the simulated parking route.

[0074] Select the component corresponding to the traffic participation element and obstacle information on the current page. Then, use at least one component to perform three-dimensional reconstruction of each traffic participation element based on the obstacle information corresponding to each traffic participation element, so as to obtain simulated environment information based on the reconstructed traffic participation element.

[0075] S250. Display the simulated parking route of the target vehicle under simulated environmental information on the current page, and adjust and update the target parking algorithm based on the simulated parking route of the target vehicle under simulated environmental information displayed on the current page.

[0076] Specifically, based on the simulated parking route of the target vehicle in the simulated environment shown on the current page, the target parking algorithm is adjusted and updated to address the problem that the lack of intuitiveness in existing technologies makes it difficult to detect anomalies during the debugging of the target parking algorithm, which is detrimental to the accuracy of the target parking algorithm debugging. Visualizing the parking process helps to promptly identify problems in the target parking algorithm debugging process and ensure the accuracy of the target parking algorithm.

[0077] The technical solution of this embodiment acquires first parking data and parking environment data of the target vehicle's parking environment during the parking process controlled by the target parking algorithm, providing data support for subsequent data visualization. The parking environment data determines the traffic participation elements and obstacle information of these elements within the parking environment. A first topic is generated based on the first parking data using a topic publishing platform; and a second topic is generated based on the traffic participation elements and obstacle information corresponding to the parking environment data using the same platform. The first and second topics are then published. By subscribing to the first and second topics, the acquired first parking data and parking environment data are reconstructed in three dimensions to obtain the simulated parking route and simulated environment information of the target vehicle. The simulated parking route of the target vehicle under the simulated environment information is displayed on the current page, allowing for adjustments and updates to the target parking algorithm based on the simulated parking route displayed on the current page. This invention solves the problem in the prior art where the debugging of parking algorithms is not intuitive, which leads to the inability to guarantee the comprehensiveness and accuracy of parking algorithm adjustments. By visually displaying the parking process of the target vehicle controlled by the target parking algorithm, it facilitates subsequent adjustments and updates to the target parking algorithm based on the displayed content, thereby improving the intuitiveness and accuracy of the debugging of the target parking algorithm.

[0078] Example 3

[0079] Figure 3 This is a flowchart illustrating a parking data display method according to Embodiment 3 of the present invention. This embodiment is an example of the above embodiments, applied in a scenario of testing a target parking algorithm. Specific implementation details can be found in the technical solution of this embodiment. Technical terms that are the same as or corresponding to those in the above embodiments will not be repeated here. Figure 3 As shown, the method includes:

[0080] S310. During the parking process controlled by the target parking algorithm, the position coordinates, actual heading angle and vehicle data of the target vehicle at its actual location are obtained in real time, as well as the traffic participation elements in the parking environment to which the target vehicle belongs and the obstacle information of the traffic participation elements in the parking environment are obtained in real time.

[0081] The position coordinates can be UTM coordinates, used to represent the actual position of the target vehicle. Obstacle information includes at least the obstacle type, obstacle size, and obstacle position. The obstacle position is represented by obstacle coordinates in the UTM coordinate system. If the obtained obstacle coordinates are relative to the target vehicle, coordinate transformation can be performed using the transformation method mentioned in the above embodiments to obtain the obstacle coordinates in the UTM coordinate system. This step corresponds to S110, S210, and S220 mentioned in the above embodiments.

[0082] Specifically, during the debugging process of the target parking algorithm, the starting position and target position of the target vehicle can be determined first. When the target vehicle is at the starting position, the target parking algorithm can be used to control the parking of the target vehicle. When the target vehicle is at the target position, the parking of the target vehicle can be stopped, and data acquisition and subsequent 3D reconstruction processing can be stopped at the same time.

[0083] During the parking process controlled by the target parking algorithm, the vehicle data of the target vehicle is determined, and the position coordinates and actual heading angle of the target vehicle at its actual location are acquired in real time. Additionally, traffic participation elements in the parking environment of the target vehicle and obstacle information within those traffic participation elements are acquired in real time.

[0084] S320: The ROS system processes the target vehicle's position coordinates, actual heading angle, and vehicle data at its actual location to generate a first topic. The corresponding display attribute information is then added to the first topic, and the ROS system's message sending mechanism is used to publish the first topic after adding the display attribute information.

[0085] The ROS system corresponds to the topic publishing platform mentioned in the above embodiments. This step corresponds to S230 mentioned in the above embodiments.

[0086] Specifically, an information sending node is set up in the ROS system. Based on this information sending node, the target vehicle's actual location coordinates, actual heading angle, and vehicle data, data of the `visualization_msgs::MarkerArray` message type is created in the ROS system. Display attributes are set, including parameters such as display shape type, color, object size, and transparency. Based on the set display attributes and the `visualization_msgs::MarkerArray` message type data, a first topic is generated, and the first topic with added display attributes is published using the ROS system's message sending mechanism.

[0087] S330. The traffic participation elements and obstacle information corresponding to the parking environment data are processed through the ROS system to generate a second topic, and the corresponding display attribute information is added to the second topic. The second topic after adding the display attribute information is published through the message sending mechanism of the ROS system.

[0088] The ROS system corresponds to the topic publishing platform mentioned in the above embodiments. This step corresponds to S230 mentioned in the above embodiments.

[0089] Specifically, an information sending node is set up in the ROS system, and data of the `visualization_msgs::MarkerArray` message type is created based on this information sending node, traffic participation elements, and obstacle information. Display attributes are set, including parameters such as display shape type, color, object size, and transparency. Based on the set display attributes and the `visualization_msgs::MarkerArray` message type data, a second topic is generated, and the second topic with added display attributes is published using the ROS system's message sending mechanism.

[0090] S340. Subscribe to the first and second topics through the rviz platform in the ROS system, and select at least one MarkerArray component based on the location coordinates, actual heading angle, vehicle data and corresponding display attribute information in the first topic to perform three-dimensional reconstruction of the information and obtain the simulated parking route displayed on the current page.

[0091] Among them, the rviz platform is a 3D visualization platform provided by the ROS system for visualization needs, capable of displaying various types of data in real time through graphical means. The obstacle location in the obstacle information of traffic participation elements can be characterized by at least one obstacle coordinate corresponding to the obstacle. This step corresponds to S240 mentioned in the above embodiment.

[0092] Specifically, by subscribing to the first and second topics through the rviz platform in the ROS system, and based on the location coordinates, actual heading angle, vehicle data, and corresponding display attribute information in the first topic, at least one corresponding MarkerArray component is selected to perform 3D reconstruction of the information, resulting in a simulated parking route displayed on the current page. For example, by adding the corresponding MarkerArray component, based on the display attribute information, the target vehicle is represented by a cube corresponding to its actual size, and the route traveled by the target vehicle is represented by spherical points, thus obtaining the simulated parking route displayed on the current page. This simulated parking route allows the relevant debugging personnel to determine the real-time location of the target vehicle and the parking route it has traveled.

[0093] S350. Based on the traffic participation elements, obstacle information, and corresponding display attribute information in the second topic, select at least one corresponding MarkerArray component, perform three-dimensional reconstruction of the information, and obtain the simulated environment information displayed on the current page.

[0094] Based on the traffic participation elements, obstacle information, and corresponding display attributes from the second topic, at least one MarkerArray component is selected to perform 3D reconstruction, resulting in the simulated environment information displayed on the current page. For example, the obstacle types in the obstacle information can include three types: pedestrian obstacles, vehicle obstacles, and other obstacle types. Using the obstacle coordinates of the four corner points of each obstacle and the length, width, and height information corresponding to the obstacle dimensions in the obstacle information, 3D reconstruction is performed using line segments in the MarkerArray component to construct the 3D framework of the obstacles. It should be noted that to effectively distinguish the three different types of obstacles, the line segments are displayed in different colors. This allows for real-time display of obstacle conditions and effective identification of obstacle types on the current page.

[0095] S360. When the target vehicle is detected to have traveled to the target position corresponding to the target parking algorithm, stop data acquisition and 3D reconstruction processing, and adjust and update the target parking algorithm based on the simulated parking route of the target vehicle in the simulated environment information displayed on the current page.

[0096] The target location can be the position where the target vehicle, controlled by the target parking algorithm, stops.

[0097] Specifically, when the target vehicle is detected to have traveled to the target position corresponding to the target parking algorithm, data acquisition and 3D reconstruction processing are stopped, and the target parking algorithm is adjusted and updated based on the simulated parking route of the target vehicle in the simulated environment information displayed on the current page.

[0098] The technical solution of this embodiment, by visualizing the acquired position coordinates, actual heading angle, vehicle data, traffic participation elements in the parking environment, and obstacle information of the traffic participation elements in the parking environment during the parking process controlled by the target parking algorithm, solves the problem in the prior art that it is not easy to find jump points or abnormal situations when debugging the target parking algorithm. By visualizing the parking process in real time, it is beneficial to discover problems in the debugging process of the target parking algorithm in a timely manner, thereby ensuring the accuracy of the target parking algorithm.

[0099] Example 4

[0100] Figure 4 This is a schematic diagram of a parking data display device provided in Embodiment 4 of the present invention. Figure 4 As shown, the device includes: a data acquisition module 410, an information 3D reconstruction module 420, and a data display module 430.

[0101] The data acquisition module 410 is used to acquire the first parking data and the parking environment data of the target vehicle's parking environment during the parking process. The target vehicle parks based on the second parking data calculated by the target parking algorithm. The information 3D reconstruction module 420 is used to perform information 3D reconstruction on the acquired first parking data and parking environment data based on the subscribed topic information to obtain the simulated parking route and simulated environment information of the target vehicle. The data display module 430 is used to display the simulated parking route of the target vehicle under the simulated environment information on the current page.

[0102] The technical solution of this embodiment acquires the first parking data and the parking environment data of the target vehicle's parking environment during the parking process controlled by the target parking algorithm, providing data support for subsequent data visualization. After subscribing to the topic information generated from the first parking data and parking environment data, three-dimensional reconstruction of the acquired data can be performed to obtain the simulated parking route and simulated environment information of the target vehicle. The simulated parking route of the target vehicle under the simulated environment information is displayed on the current page, allowing for adjustments and updates to the target parking algorithm based on the displayed content. This invention solves the problem in existing technologies where the debugging of parking algorithms is not intuitive, leading to a lack of comprehensiveness and accuracy in adjusting the algorithm. By visualizing the parking process of the target vehicle controlled by the target parking algorithm, it facilitates subsequent adjustments and updates to the target parking algorithm based on the displayed content, improving the intuitiveness and accuracy of the target parking algorithm debugging.

[0103] Based on the above embodiments, optionally, the second parking data includes a desired parking path, multiple estimated anchor points on the desired parking path, estimated position information corresponding to each estimated anchor point, and estimated heading angle, while the first parking data includes the position coordinates of multiple actual position points of the target vehicle during the parking process and the actual heading angle.

[0104] Optionally, the data acquisition module includes: a parking environment data acquisition unit, used to collect image data of the parking environment based on a camera device deployed on the target vehicle and / or collect point cloud data of the parking environment based on a lidar; and to obtain parking environment data of the parking environment of the target vehicle by processing the image data and / or point cloud data.

[0105] Optionally, the device further includes: an obstacle information determination module, used to determine the traffic participation elements of the parking environment to which the target vehicle belongs and the obstacle information of the traffic participation elements in the parking environment based on parking environment data; wherein, the obstacle information includes at least the obstacle type, obstacle size and obstacle position, and the obstacle position is the coordinate information of the obstacle in the target coordinate system.

[0106] Optionally, the device further includes: a topic generation module, used to generate a first topic based on the first parking data using a topic publishing platform; and to generate a second topic based on traffic participation elements and obstacle information corresponding to the parking environment data using the topic publishing platform; correspondingly, the subscribed topic information includes the first topic and the second topic.

[0107] Optionally, the first parking data also includes vehicle data of the target vehicle and a three-dimensional information reconstruction module, which is used to reconstruct the target vehicle and the simulated parking route corresponding to the target vehicle based on the vehicle data, the position coordinates of multiple actual location points in the first parking data, and the actual heading angle; and to reconstruct the three-dimensional environment based on the traffic participation elements and obstacle information corresponding to the parking environment data to obtain the simulated environment information.

[0108] Optionally, the 3D reconstruction is determined by: selecting at least one component on the current page and determining the display attribute information configured for the at least one component; and obtaining the simulated parking route and simulated environment information displayed on the current page based on the at least one component and the corresponding display attribute information.

[0109] Optionally, the device further includes an algorithm adjustment module, used to adjust and update the target parking algorithm based on the simulated parking route of the target vehicle in the simulated environment information displayed on the current page.

[0110] The parking data display device provided in this embodiment of the invention can execute the parking data display method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0111] Example 5

[0112] Figure 5 This is a schematic diagram of the structure of an electronic device provided in Embodiment 5 of the present invention. The electronic device 10 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0113] like Figure 5 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0114] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0115] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as methods for displaying parking data.

[0116] In some embodiments, the parking data display method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the parking data display method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the parking data display method by any other suitable means (e.g., by means of firmware).

[0117] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0118] Computer programs used to implement the parking data display method of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The computer programs can be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0119] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication unit 19, or installed from storage unit 18, or installed from ROM 12. When the computer program is executed by processor 11, it performs the functions defined in the methods of the embodiments of the present invention.

[0120] Example 6

[0121] Embodiment 6 of the present invention also provides a computer-readable storage medium storing computer instructions for causing a processor to execute a method for displaying parking data, the method comprising:

[0122] The system acquires the first parking data generated during the parking process of the target vehicle and the parking environment data of the target vehicle's parking environment. The target vehicle parks based on the second parking data calculated by the target parking algorithm. Based on the subscribed topic information, the system performs 3D reconstruction of the acquired first parking data and parking environment data to obtain the simulated parking route and simulated environment information of the target vehicle. The simulated parking route of the target vehicle under the simulated environment information is displayed on the current page.

[0123] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0124] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0125] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0126] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0127] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0128] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for displaying parking data, characterized in that, include: Acquire first parking data generated during the parking process of the target vehicle and parking environment data of the parking environment to which the target vehicle belongs, wherein the target vehicle parks based on second parking data calculated by the target parking algorithm; Based on the subscribed topic information, the first parking data and the parking environment data are reconstructed in three dimensions to obtain the simulated parking route and simulated environment information of the target vehicle. The current page displays the simulated parking route of the target vehicle under the simulated environment information.

2. The method according to claim 1, characterized in that, The second parking data includes the desired parking path, multiple estimated anchor points on the desired parking path, estimated position information corresponding to each estimated anchor point, and estimated heading angle. The first parking data includes the position coordinates and actual heading angle of multiple actual position points of the target vehicle during the parking process.

3. The method according to claim 1, characterized in that, During the parking process of the target vehicle, the method further includes: Image data of the parking environment is collected by a camera device deployed on the target vehicle and / or point cloud data of the parking environment is collected by a lidar. By processing the image data and / or the point cloud data, parking environment data of the parking environment to which the target vehicle belongs is obtained.

4. The method according to claim 1 or 3, characterized in that, After obtaining the parking environment data, the method further includes: Based on the parking environment data, determine the traffic participation elements of the parking environment to which the target vehicle belongs, as well as the obstacle information of the traffic participation elements in the parking environment. The obstacle information includes at least the obstacle type, obstacle size, and obstacle location, wherein the obstacle location is the coordinate information of the obstacle in the target coordinate system.

5. The method according to claim 1, characterized in that, After acquiring the first parking data generated by the target vehicle during the parking process and the parking environment data of the parking environment to which the target vehicle belongs, the method further includes: Using a topic publishing platform, generate a first topic based on the first parking data; Using the aforementioned topic publishing platform, a second topic is generated based on traffic participation elements and obstacle information corresponding to the parking environment data; Accordingly, the subscribed topic information includes the first topic and the second topic.

6. The method according to claim 1, characterized in that, The first parking data also includes vehicle data of the target vehicle. Based on the subscribed topic information, a three-dimensional reconstruction is performed on the acquired first parking data and the parking environment data to obtain the simulated parking route and simulated environment information of the target vehicle, including: Based on the vehicle data, the position coordinates of multiple actual location points in the first parking data, and the actual heading angle, the target vehicle and the simulated parking route corresponding to the target vehicle are reconstructed. The simulated environment information is obtained by reconstructing a three-dimensional environment based on the traffic participation elements and obstacle information corresponding to the parking environment data.

7. The method according to claim 1 or 6, characterized in that, The 3D reconstruction was determined based on the following method: Select at least one component on the current page and determine the display attribute information configured for the at least one component; Based on the at least one component and the corresponding display attribute information, the simulated parking route and simulated environment information displayed on the current page are obtained.

8. The method according to claim 1, characterized in that, The method further includes: Based on the simulated parking route of the target vehicle under the simulated environment information displayed on the current page, the target parking algorithm is adjusted and updated.

9. A parking data display device, characterized in that, include: The data acquisition module is used to acquire the first parking data generated by the target vehicle during the parking process and the parking environment data of the parking environment to which the target vehicle belongs, wherein the target vehicle parks based on the second parking data calculated by the target parking algorithm; The information 3D reconstruction module is used to perform information 3D reconstruction on the acquired first parking data and the parking environment data based on the subscribed topic information, so as to obtain the simulated parking route and simulated environment information of the target vehicle. The data display module is used to display the simulated parking route of the target vehicle under the simulated environment information on the current page.

10. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, which is executed by the at least one processor to enable the at least one processor to perform the parking data display method according to any one of claims 1-8.

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