Memory parking interaction method and device, equipment, storage medium and program product

Abstract

The invention discloses a memory parking interaction method and device, equipment, a storage medium and a program product, and relates to the technical field of intelligent driving, and the method comprises the steps: obtaining a shadow vehicle track of manual parking of a target vehicle on a current parking route under the condition that a memory parking function of the target vehicle is enabled; and in the memory parking process of the target vehicle, the real-time parking track of the target vehicle and the shadow vehicle track are synchronously displayed on a preset display interface, so that the memory parking process and the manual parking process of the target vehicle are compared and interacted. A man-machine competition element is introduced through a shadow vehicle track, a visual quantitative evaluation basis is provided for memory parking performance, a user can visually feel the performance advantages and disadvantages of a memory parking function relative to own driving habits, the transparency of memory parking and the understanding of the user on an intelligent driving system decision are enhanced, and the user experience is improved. And the use credibility of the user can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent driving, and particularly relates to a memory parking interaction method and device, equipment, a storage medium and a program product. BACKGROUND

[0002] With the development of intelligent driving technology, the application of memory parking function in intelligent driving vehicles has also been popularized. At present, the process of memory parking in the intelligent driving system only displays the vehicle position, parking space and planned parking path statically, and the user cannot quantitatively evaluate the performance of memory parking, so that the memory parking function of the intelligent driving system has a black box characteristic, which affects the user's trust in the intelligent driving system.

[0003] The above content is only used to assist in understanding the technical solutions of the present application and does not represent the acknowledgement of the above content as prior art. SUMMARY

[0004] The main purpose of the present application is to provide a memory parking interaction method, device, equipment, a storage medium and a program product, which aims to solve the technical problem that the user cannot quantitatively evaluate the performance of the memory parking function, which affects the user's trust in the intelligent driving system.

[0005] To achieve the above purpose, the present application provides a memory parking interaction method, which comprises: In the case that the memory parking function of the target vehicle is enabled, the shadow vehicle trajectory of the target vehicle manually parking on the current parking route is acquired; In the process of memory parking of the target vehicle, the real-time parking trajectory of the target vehicle and the shadow vehicle trajectory are synchronously displayed on a preset display interface, so as to compare and interact the memory parking process and the manual parking process of the target vehicle.

[0006] In an embodiment, the step of synchronously displaying the real-time parking trajectory of the target vehicle and the shadow vehicle trajectory on the preset display interface comprises: According to the starting position of the target vehicle performing memory parking, a playback starting point of the shadow vehicle trajectory is determined; The real-time parking trajectory of the target vehicle is displayed on the preset display interface, and the shadow vehicle trajectory is synchronously displayed on the display interface from the playback starting point.

[0007] In an embodiment, the step of determining the playback starting point of the shadow vehicle trajectory according to the starting position of the target vehicle performing memory parking comprises: matching a starting position of the target vehicle for memory parking with each trajectory point in the shadow vehicle trajectory, and determining a target trajectory point closest to the starting position; determining a playback starting point of the shadow vehicle trajectory according to time stamp information corresponding to the shadow vehicle at the target trajectory point.

[0008] In an embodiment, after the step of synchronously displaying the real-time parking trajectory of the target vehicle and the shadow vehicle trajectory in a preset display interface, the method further comprises: starting a first thread and a second thread, rendering the target vehicle by using the first thread, and rendering the shadow vehicle corresponding to the shadow vehicle trajectory by using the second thread; detecting a real-time distance between the target vehicle and the shadow vehicle based on the real-time parking trajectory and the shadow vehicle trajectory; dynamically adjusting transparency of the real-time parking trajectory and the shadow vehicle trajectory according to the real-time distance.

[0009] In an embodiment, before the step of obtaining the shadow vehicle trajectory of the target vehicle for manual parking on a current parking route, the method further comprises: collecting running state data of the target vehicle in a manual parking process in which the target vehicle learns the parking route; constructing a parking map based on the running state data, and generating a plurality of trajectory points containing positions and time stamps; connecting each trajectory point according to a time stamp of each trajectory point, and generating a shadow vehicle trajectory of the target vehicle in the parking map.

[0010] In an embodiment, after the step of synchronously displaying the real-time parking trajectory of the target vehicle and the shadow vehicle trajectory in a preset display interface, the method further comprises: quantitatively scoring the real-time parking trajectory and the shadow vehicle trajectory when memory parking of the target vehicle ends; visually displaying a scoring result in the display area.

[0011] In addition, to achieve the above object, the application further provides a memory parking interaction device, which comprises: a data acquisition module, configured to, when a memory parking function of a target vehicle is enabled, obtain a shadow vehicle trajectory of the target vehicle for manual parking on a current parking route; The comparative interaction module is configured to display the real-time parking trajectory of the target vehicle and the shadow vehicle trajectory synchronously on a preset display interface during the memory parking of the target vehicle, so as to compare and interact the memory parking process and the manual parking process of the target vehicle.

[0012] In addition, to achieve the above-mentioned purpose, the present application also provides a memory parking interaction device, which comprises a memory, a processor and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the memory parking interaction method as described above.

[0013] In addition, to achieve the above-mentioned purpose, the present application also provides a storage medium, which is a computer readable storage medium, and the storage medium stores a computer program, and the computer program is executed by a processor to implement the steps of the memory parking interaction method as described above.

[0014] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which comprises a computer program, and the computer program is executed by a processor to implement the steps of the memory parking interaction method as described above.

[0015] The one or more technical solutions provided by the present application have at least the following technical effects: In the case that the memory parking function of the target vehicle is enabled, the shadow vehicle trajectory of the target vehicle in the current parking route is obtained, and the real-time parking trajectory of the target vehicle and the shadow vehicle trajectory are displayed synchronously on a preset display interface during the memory parking of the target vehicle, so as to compare and interact the memory parking process and the manual parking process of the target vehicle. By introducing the shadow vehicle trajectory, the manual parking trajectory of the target vehicle is taken as an intuitive quantitative reference for the memory parking process, so as to convert the abstract and invisible memory parking process into a trajectory difference that can be intuitively perceived by the user. This visual comparative interaction enables the user to clearly evaluate the performance of the memory parking function relative to the user's driving habits, thereby providing an intuitive quantitative evaluation basis for the performance of the memory parking, significantly enhancing the transparency of the memory parking and the user's understanding of the decision of the intelligent driving system, thereby facilitating the improvement of the user's trust in the intelligent driving system. BRIEF DESCRIPTION OF DRAWINGS

[0016] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and serve to explain the principles of the present application together with the specification.

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.

[0018] Figure 1 The flowchart provided by the memory parking interaction method embodiment of the present application; Figure 2 The flowchart provided by another embodiment of the memory parking interaction method of the present application; Figure 3 The brief flowchart provided by the memory parking interaction method embodiment of the present application; Figure 4 The module structure diagram of the memory parking interaction device of the embodiment of the present application; Figure 5 The device structure diagram of the hardware running environment involved in the memory parking interaction method in the embodiment of the present application.

[0019] The purpose implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0020] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application, and are not used to limit the present application.

[0021] In order to better understand the technical solutions of the present application, the following will be described in detail in combination with the drawings in the specification and specific embodiments.

[0022] The main solution of the embodiment of the present application is: in the process of memory parking, the man-machine competition element is introduced, the manual driving parking track of the user when learning parking route is played back and compared in real time on the display interface, through the visual comparison, the user can intuitively understand the decision of the intelligent driving system, the interest of the memory parking process is enhanced, and the use trust of the user for the memory parking is improved.

[0023] In the existing memory parking method, only the information such as vehicle position, parking space and parking path is displayed statically, there is lack of comparison and interaction of memory parking path, the user is difficult to quantitatively evaluate the performance of memory parking, the black box characteristics exist in the memory parking function, and the trust of the user for the intelligent driving system is affected.

[0024] The application provides a solution that introduces a man-machine competition element by means of a "shadow opponent" mechanism in a racing game, takes the manual driving parking track of a user when learning a parking route as a dynamic reference, realizes man-machine competition interaction in the process of memory parking, and improves the participation and system transparency of the user.

[0025] It should be noted that the execution subject of the embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device, a memory parking interactive device, etc. capable of realizing the above functions. The memory parking interactive device is taken as an example in the following to describe the embodiment and each of the following embodiments.

[0026] The application embodiment provides a memory parking interactive method, which can be applied to an intelligent driving system, and the method comprises the steps of Figure 1 , Figure 1 FIG. 1 is a flowchart of a first embodiment of the memory parking interactive method of the application.

[0027] In the embodiment, the memory parking interactive method comprises steps S10-S20: S10, in the case that a memory parking function of a target vehicle is enabled, a shadow vehicle track of manual parking of the target vehicle on a current parking route is acquired; S20, in the process of memory parking of the target vehicle, a real-time parking track of the target vehicle and the shadow vehicle track are synchronously displayed on a preset display interface to compare and interact the memory parking process and the manual parking process of the target vehicle.

[0028] In the case that a memory parking function of a target vehicle is enabled, a shadow vehicle track of manual parking of the target vehicle on a current parking route is acquired.

[0029] It should be noted that the shadow vehicle track is a manual driving parking track of a user corresponding to the target vehicle when learning the current parking route. In the case that the memory parking function of the target vehicle is enabled, a pre-stored manual parking track corresponding to the current parking route is acquired to obtain the shadow vehicle track.

[0030] In the process of memory parking of the target vehicle, a real-time parking track of memory parking of the target vehicle and the shadow vehicle track are synchronously displayed on a preset display interface to compare and interact the memory parking process and the manual parking process of the target vehicle.

[0031] In one feasible implementation, augmented reality head-up display or similar solutions are used to render and display the real-time parking trajectory and shadow vehicle trajectory of the target vehicle on the display interface. The real-time parking trajectory and shadow vehicle trajectory are rendered and displayed using different display parameters, including but not limited to color, saturation, and transparency.

[0032] In this embodiment, when the memory parking function of the target vehicle is enabled, the shadow vehicle trajectory of the target vehicle manually parking on the current parking route is acquired. During the memory parking process, the real-time parking trajectory of the target vehicle and the shadow vehicle trajectory are simultaneously displayed on a preset display interface to compare and interact with the manual parking process. By introducing the shadow vehicle trajectory, the manual parking trajectory of the target vehicle is used as an intuitive quantitative reference for the memory parking process, thereby transforming the abstract and invisible memory parking process into a trajectory difference that users can intuitively perceive. This visualized comparison and interaction allows users to clearly evaluate the performance of the memory parking function relative to their own driving habits, thus providing a direct quantitative evaluation basis for the performance of memory parking, significantly enhancing the transparency of memory parking and users' understanding of the intelligent driving system's decisions, thereby helping to improve users' trust in the use of the intelligent driving system.

[0033] In one feasible implementation, displaying the shadow vehicle trajectory involves replaying the parking trajectory manually performed by the user on the display interface. However, replaying the shadow vehicle trajectory requires determining the playback start point—that is, determining from which position the shadow vehicle trajectory should be replayed. Therefore, step S20 may further include steps S21-S22: S21, determine the playback start point of the shadow vehicle trajectory based on the starting position of the target vehicle's memory parking; S22, display the real-time parking trajectory of the target vehicle on a preset display interface, and starting from the playback start point, synchronously display the trajectory of the shadow vehicle on the display interface.

[0034] First, based on the starting position of the target vehicle when it is parked, determine the starting point for replaying the shadow vehicle's trajectory. This provides a reasonable spatial or temporal starting point for replaying the historical trajectory, avoiding the unreasonable phenomenon of the shadow vehicle being out of sync with the target vehicle's current position.

[0035] As a feasible implementation method, the precise geographical location of the target vehicle at the moment the memory parking function is activated is obtained, for example, by fusing GPS, wheel speed sensor, and inertial measurement unit data to obtain positioning coordinates. Subsequently, this starting coordinate is matched with the pre-stored shadow vehicle trajectory. The matching algorithm can employ the nearest neighbor search method to calculate the distance from the target vehicle's starting coordinate to each trajectory point on the shadow vehicle trajectory, and the trajectory point with the smallest distance is determined as the playback starting point, ensuring that the playback of the shadow vehicle trajectory is performed from a comparable relative position from the start of memory parking.

[0036] Then, the real-time parking trajectory of the target vehicle is displayed on the preset display interface, and the trajectory of the shadow vehicle is synchronously displayed on the display interface starting from the playback start point.

[0037] It should be noted that the synchronized display of the real-time parking trajectory and the shadow vehicle trajectory uses a playback mechanism of progress synchronization rather than time synchronization. Specifically, after determining the playback start point of the shadow vehicle trajectory, real-time rendering of both trajectories is initiated. The real-time parking trajectory is continuously drawn, driven by the target vehicle's current real-time position data. Simultaneously, for the shadow vehicle trajectory, starting from the determined playback start point, subsequent trajectory points are drawn progressively according to the time sequence of their trajectory point recording, at a rate adapted to the target vehicle's real-time movement speed.

[0038] For example, if the target vehicle moves 0.5 meters in real time, the shadow vehicle's trajectory will be drawn on its path for the next 0.5 meters. This playback mechanism, which synchronizes parking progress rather than time, allows users to clearly see the differences in path selection, turning timing, etc., between parking using memory and parking using historical manual driving at any spatial location, thus achieving a real and effective comparison interaction.

[0039] In one embodiment, the starting point for replaying the shadow vehicle trajectory is a timestamp determined based on the target vehicle's location information. Therefore, step S21 further includes steps S211-S212: S211, Match the starting position of the target vehicle for memory parking with each trajectory point in the shadow vehicle's trajectory to determine the target trajectory point closest to the starting position; S212, determine the playback start point of the shadow vehicle trajectory based on the timestamp information corresponding to the shadow vehicle at the target trajectory point.

[0040] The starting position of the target vehicle's memory parking is matched with each trajectory point in the shadow vehicle's trajectory to determine the target trajectory point closest to the starting position, thus completing the preliminary spatial positioning of the playback starting point.

[0041] Specifically, refer to Figure 2 The comparison and interaction process shown in the diagram for memory parking involves acquiring the shadow vehicle trajectory and the precise position coordinates of the target vehicle (denoted as point P1) when the memory parking function is activated, assuming the target vehicle's memory parking function is enabled. Then, by traversing each trajectory point in the pre-stored shadow vehicle trajectory, the distance between point P1 and each trajectory point is calculated to quickly determine the target trajectory point spatially closest to point P1, denoted as point P2. This ensures that the playback starting point is physically close to the vehicle's actual starting position when parking. It should be noted that the shadow vehicle trajectory consists of a series of discrete trajectory points arranged in chronological order, each containing corresponding vehicle position coordinates (x, y).

[0042] Furthermore, based on the timestamp information corresponding to the shadow vehicle at the target trajectory point, the playback start point of the shadow vehicle trajectory is determined, resolving the ambiguity that may arise from simple spatial matching. Finally, the real-time parking trajectory of the target vehicle is displayed on the display interface, and starting from the playback start point, the shadow vehicle trajectory is synchronously displayed on the display interface, realizing the comparison and interaction between real-time parking and manual parking represented by the shadow vehicle trajectory. That is, realizing the human-computer comparison and interaction between memory parking and user manual parking.

[0043] To address potential ambiguities in spatial matching, such as in parking scenarios with multiple similar parking paths, the point P2 closest to point P1 might not be the starting point of the shadow vehicle's trajectory, but rather a point in the middle or end of that trajectory. Directly using it as the playback starting point would cause the shadow vehicle to suddenly "jump out" from the middle of the path, which is illogical. Therefore, the playback starting point of the shadow vehicle's trajectory is determined by obtaining the timestamp information associated with point P2. Specifically, starting from the timestamp associated with the target trajectory point, the initial starting point of the shadow vehicle's trajectory (i.e., the trajectory point with the earliest timestamp) is traced backward, and this initial starting point is determined as the starting point of the shadow vehicle's trajectory playback for this time. This method ensures that regardless of where the target vehicle initiates the memory parking function from the current parking route, the playback of the shadow vehicle's trajectory will start from the starting point of the historical trajectory, thus presenting a complete, continuous, and logically consistent comparison process, greatly improving the rationality of the interactive experience and the user experience.

[0044] In other parking scenarios, users may repeatedly move the car forward and backward during parking. Simply determining the playback start point based on spatial location might miss the trajectory before the target trajectory point. Therefore, by supplementing spatial location with time information using timestamp information, the shadow vehicle trajectory can be replayed from a spatiotemporal perspective, ensuring the integrity of the shadow vehicle trajectory and the authenticity of the parking process corresponding to the shadow vehicle trajectory. The playback start point is represented by a combination of timestamp and spatial location. During the playback of the shadow vehicle trajectory, the target trajectory point can be used as the starting position for the shadow vehicle trajectory playback. The corresponding trajectory points are drawn and rendered according to the time sequence corresponding to the timestamp. Based on the timestamp information of the target trajectory point, each trajectory point generated after the target trajectory point is drawn and rendered one by one according to the time sequence and the parking progress corresponding to the real-time parking trajectory, achieving synchronous display of the real-time parking trajectory and the shadow vehicle trajectory.

[0045] As a feasible implementation method, after synchronously displaying the real-time parking trajectory and the shadow vehicle trajectory of the target vehicle, synchronous rendering is also required. The rendering of the real-time parking trajectory and the shadow vehicle trajectory is performed synchronously using independent threads. Based on this, steps S31 to S33 can also be included after step S20: S31, Start the first thread and the second thread, use the first thread to render the target vehicle, and use the second thread to render the shadow vehicle corresponding to the shadow vehicle trajectory; S32, based on the real-time parking trajectory and the shadow vehicle trajectory, detect the real-time distance between the target vehicle and the shadow vehicle; S33, dynamically adjust the transparency of the real-time parking trajectory and the shadow vehicle trajectory based on the real-time distance.

[0046] First, a first thread and a second thread are started. The first thread renders the target vehicle, and the second thread renders the shadow vehicle corresponding to its trajectory. Optionally, the target vehicle and its shadow vehicle can be rendered using different display parameters for easier user differentiation.

[0047] The target vehicle and the shadow vehicle are rendered separately using independent threads. This dual-threaded independent rendering method not only ensures the independence of the rendering, but also helps to solve the stuttering or display asynchrony problems that may be caused by single-threaded rendering.

[0048] In one feasible implementation, when the intelligent driving system initializes the memory parking function or displays the interface, two independent rendering threads are created: a first thread and a second thread. The first thread, referred to as the "main vehicle rendering thread," is used to handle the rendering of all graphical elements related to the current target vehicle, including but not limited to drawing the vehicle model based on real-time positioning data, updating the vehicle attitude (such as steering and pitch), and drawing real-time parking trajectory lines. Simultaneously, the second thread, referred to as the "shadow vehicle rendering thread," runs in parallel with the first thread. It reads shadow vehicle trajectory-related data from pre-stored data and renders the shadow vehicle's visible model and its historical trajectory lines accordingly.

[0049] This resource-isolated parallel processing method can effectively avoid blocking or delaying the rendering process of the other party due to a sudden increase in the amount of data computation on one side (such as frequent updates of positioning data due to complex environment), thereby ensuring that both trajectories can be presented smoothly and synchronously on the display interface, providing users with a consistent comparison and interaction experience.

[0050] Furthermore, based on the real-time parking trajectory and the shadow vehicle trajectory, the real-time distance between the target vehicle and the shadow vehicle is detected. This real-time distance is the data foundation for achieving intelligent visual adjustment. Optionally, the real-time position coordinates of the target vehicle and the shadow position coordinates of the shadow vehicle, determined by the playback progress of the shadow vehicle trajectory, are acquired periodically (e.g., at a frequency of 10 times per second). By calculating the distance between these two sets of coordinates, the real-time spatial distance between the real-time position of the target vehicle and the shadow position is obtained. This distance changes dynamically with the parking progress, accurately reflecting the relative spatial distance between the real-time vehicle and the historical trajectory vehicle.

[0051] Finally, the transparency of the real-time parking trajectory and the shadow vehicle trajectory is dynamically adjusted based on the real-time distance between the real-time position of the target vehicle and the shadow position. This dynamic adjustment of transparency helps to solve the visual overlap and interference problems that may occur when the two trajectories are too close.

[0052] As a feasible implementation method, a transparency adjustment rule can be preset. For example, a minimum distance threshold D1 (e.g., 1 meter) and a maximum distance threshold D2 (e.g., 5 meters) can be set. When the real-time distance D ≤ D1, the transparency of the shadow vehicle and its trajectory is set to a lower value (e.g., 30%) to make it appear more transparent, thus avoiding obscuring key information about the real vehicle and its surrounding environment. When the real-time distance D ≥ D2, the transparency is set to a higher value (e.g., 70%) to make it clearly visible and easy to observe from a distance. When the real-time distance D is between D1 and D2, the transparency can be linearly or non-linearly interpolated within a preset range (e.g., 30% to 70%) to achieve a smooth transition. Based on the real-time distance-based dynamic transparency adjustment mechanism, the visual presentation of the parking trajectory can be intelligently optimized, minimizing visual interference while ensuring the contrast effect, thus improving the safety and comfort of the user experience.

[0053] In some embodiments, color gradient encoding is used to render the real-time parking trajectory and the shadow vehicle trajectory. For example, the vehicle speed is divided into high-speed, medium-speed, and low-speed segments, and different speed segments are rendered with different colors. For example, the high-speed segment (>10km / h) is rendered in red, the low-speed segment (<5km / h) is rendered in green, and the medium-speed segment (located between the high-speed and low-speed segments) is rendered in blue. The same speed segment of the real-time parking trajectory and the shadow vehicle trajectory is rendered with the same color so that users can intuitively compare the vehicle speed when parking.

[0054] Understandably, the changes in the target vehicle's position can be synchronously reflected through the vehicle model, and the vehicle model's perspective can also be dynamically adjusted according to the target vehicle's parking situation. For example, when the parking progress is approaching the parking space, the vehicle model's perspective is switched to a top-down view to enhance the user's perception of the distance to obstacles around the vehicle.

[0055] Understandably, before obtaining the shadow vehicle trajectory of the target vehicle manually parking on the current parking route, it is necessary to first construct the shadow vehicle trajectory. This shadow vehicle trajectory is generated and saved based on the user's manual parking process when the target vehicle learns on the current parking route. Therefore, steps S01 to S03 may also be included before step S10: S01, during the manual parking process of the target vehicle learning the parking route, the operating status data of the target vehicle is collected; S02, Based on the operating status data, construct a parking map and generate multiple trajectory points containing location and timestamp; S03, connect the trajectory points according to their timestamps to generate the shadow vehicle trajectory of the target vehicle in the parking map.

[0056] The shadow vehicle trajectory is generated by collecting relevant data from the user's manual parking in real time during the process of the target vehicle learning the parking route.

[0057] Specifically, firstly, during the manual parking process of the target vehicle learning the parking route, the target vehicle's operational status data is collected. This operational status data is the data source and foundation for generating the shadow vehicle's trajectory. When the user manually drives the target vehicle and activates the "route learning" function, the collection of the target vehicle's operational status data begins.

[0058] In one embodiment, operational status data from various sensors of the target vehicle are periodically read (e.g., at 100-millisecond intervals) via the target vehicle's bus network (such as a CAN bus). This operational status data includes at least: instantaneous vehicle speed calculated by wheel speed sensors, steering wheel angle provided by the electronic power steering system (EPS), and triaxial acceleration and triaxial angular velocity measured by an inertial measurement unit (IMU). Simultaneously, each set of acquired data is timestamped to ensure strict temporal synchronization; this timestamped operational status data constitutes the original description of the target vehicle's motion.

[0059] Then, based on the collected operational status data, a high-precision parking map is constructed, and multiple trajectory points containing location and timestamps are generated. The high-precision parking map is the core of data processing and localization. Calculations are performed using the collected data stream; optionally, visual odometry technology is employed, capturing continuous image sequences through onboard surround-view cameras. Then, by comparing the movement of feature points between adjacent images, the relative pose change (including translation and rotation) of the target vehicle between adjacent time points is calculated. Combining motion information collected by the IMU and wheel speed sensors for fusion filtering, a high-precision position and attitude of the target vehicle relative to the starting point of the parking route can be estimated. Each successful pose estimation generates a trajectory point containing the current position coordinates and corresponding timestamp. The set of all trajectory points not only defines the driving path of the target vehicle during parking, but its corresponding 3D point cloud also constitutes a sparse, feature-point-based parking map, recording the environmental structure around the parking route.

[0060] Finally, based on the timestamps of each trajectory point, the points are connected in chronological order to generate the shadow vehicle trajectory of the target vehicle on the parking map. After obtaining the discrete trajectory points arranged in chronological order, a direct way to generate the shadow vehicle trajectory is to use the line segment connection method: connecting adjacent trajectory points with straight line segments according to the chronological order of the timestamps. With a high data acquisition frequency (e.g., 10Hz), connecting these small straight line segments between trajectory points can form a sufficiently smooth, continuous trajectory line that accurately reflects the actual driving path of the target vehicle. This trajectory, imbued with time dimension information, is stored as the shadow vehicle trajectory corresponding to the current parking route for later retrieval during parking.

[0061] In one implementation, after the target vehicle completes the memory parking, a quantitative score can be calculated for the memory parking and the manual parking corresponding to the shadow vehicle's trajectory, allowing the user to more intuitively understand the performance of the memory parking and its comparison with their own driving habits. Therefore, after step S20, steps S301-S302 can be further included: S301, when the target vehicle finishes its memory parking, the real-time parking trajectory and the shadow vehicle trajectory are quantitatively scored; S302, The scoring results are displayed visually in the display area.

[0062] When the parking task is detected to be completed (such as the vehicle successfully entering the parking space and switching to P gear) or the user actively exits the memory parking function, the scoring process is triggered to quantify and score the real-time parking trajectory and the shadow vehicle trajectory.

[0063] In one embodiment, the quantitative score is calculated by analyzing the two trajectories from multiple predefined performance dimensions. For example, the following three key dimensions are selected: Parking efficiency: Calculates the total time from the starting point of the memorized parking to the completion point of parking in the space, and directly compares the time spent on the current memorized parking with the historical manual parking time recorded by the shadow vehicle.

[0064] Driving stability: Analyze the acceleration changes throughout the parking process, and calculate the standard deviation of the longitudinal and lateral acceleration of the two trajectories respectively. The smaller the acceleration fluctuation and the lower the standard deviation, the smoother the driving process.

[0065] Trajectory smoothness: This evaluates the quality of parking path planning by calculating the curvature changes of two trajectories and obtaining the standard deviation of the curvature. The smoother the curvature change and the lower the standard deviation, the smoother the trajectory and the more fluid the steering operation.

[0066] Scoring rules are set for each dimension (e.g., higher scores are given for shorter time, smaller acceleration standard deviation, and smaller curvature standard deviation), and a total score is calculated by weighting and summing them to provide a quantitative evaluation of the performance of this memory parking compared to the historical manual parking, and the scoring results are displayed visually in the display area.

[0067] By quantifying the scoring, the results are transformed into an intuitive form that is easy for users to understand. After the scoring is calculated, it is visualized in the trajectory comparison area or pop-up window of the display interface. Optionally, an intuitive visualization method is to use a multi-dimensional radar chart combined with a score prompt box: each vertex of the radar chart represents an evaluation dimension (such as "parking efficiency," "stability," and "smoothness"). Connecting the scores of the remembered parking data forms a closed contour line, and connecting the corresponding scores of the shadow vehicle trajectory forms another contour line. Through the relative size and shape of the two contour lines on the radar chart, users can clearly see in which aspects remembered parking is superior or inferior to their own driving. At the same time, the overall score and key conclusions, such as "This remembered parking efficiency improved by 15%" or "Driving smoothness surpassed historical records," are displayed in prominent font next to the radar chart, thus providing users with clear, intuitive, and rewarding feedback. This visualized parking interaction increases user engagement with the system.

[0068] Reference Figure 3 , Figure 3 Another flowchart illustrating the memory parking interaction method provided in the embodiments of this application is shown below. Figure 3 As shown, during the user's manual driving of the target vehicle to learn the parking route, multi-sensor fusion is used to collect operational status data such as the vehicle's position, speed, and pose. A high-precision parking map is then constructed based on this collected operational status data, generating a shadow vehicle trajectory. Optionally, the shadow vehicle trajectory can be stored in a map database for later retrieval.

[0069] Furthermore, during the memory parking phase, when the user activates the memory parking function, the parking map and shadow vehicle trajectory corresponding to the current parking route are loaded. Starting from the initial position when the vehicle initiates memory parking, the real-time memory parking trajectory of the vehicle is displayed, and the shadow vehicle trajectory is replayed synchronously. The starting point for the shadow vehicle trajectory replay is obtained through spatiotemporal matching based on the initial position when the vehicle initiates memory parking. The replay speed of the shadow vehicle trajectory is synchronized with the memory parking progress, as described in the above embodiments, and will not be repeated here.

[0070] After simultaneously displaying the vehicle's real-time memory parking trajectory and shadow vehicle trajectory, a dual-threaded real-time rendering process is employed to dynamically compare and contrast memory parking with manual parking until the parking process is complete. After parking, the memory parking trajectory and shadow vehicle trajectory are quantitatively scored across multiple dimensions, and the results are visualized to allow users to intuitively assess the performance advantages and disadvantages of memory parking compared to manual parking.

[0071] In this embodiment, the visual comparison and interaction enhances the user's understanding of the intelligent driving system's decision-making process during the memory parking process, which helps reduce the user's anxiety about using the intelligent driving system and the memory parking function, and increases the user's confidence in using the system.

[0072] Furthermore, by introducing human-machine competition elements through shadow vehicles, daily parking is transformed into a quantifiable skill improvement process, enhancing the fun and engaging nature of the memory parking function and satisfying users' demand for interactive technology. Moreover, through dynamic comparisons with shadow vehicles, users can intuitively experience the continuous learning of the intelligent driving system and the ongoing optimization of the memory parking function, which helps improve user trust in the system and increase user engagement.

[0073] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the memory parking interaction method of this application. Any simple modifications based on this technical concept are within the protection scope of this application.

[0074] This application also provides a memory parking interactive device, please refer to... Figure 4 The memory parking interaction device includes: The data acquisition module 10 is used to acquire the shadow vehicle trajectory of the target vehicle when it is manually parked on the current parking route, when the memory parking function of the target vehicle is enabled. The comparison and interaction module 20 is used to synchronously display the real-time parking trajectory of the target vehicle and the trajectory of the shadow vehicle on a preset display interface during the memory parking process of the target vehicle, so as to compare and interact with the memory parking process and the manual parking process of the target vehicle.

[0075] In one embodiment, the comparison interaction module 20 is further configured to: Based on the starting position of the target vehicle's memory parking, determine the playback start point of the shadow vehicle's trajectory; The real-time parking trajectory of the target vehicle is displayed on a preset display interface, and the trajectory of the shadow vehicle is synchronously displayed on the display interface starting from the playback start point.

[0076] In one embodiment, the comparison interaction module 20 is further configured to: The starting position of the target vehicle for memory parking is matched with each trajectory point in the trajectory of the shadow vehicle to determine the target trajectory point that is closest to the starting position; Based on the timestamp information corresponding to the shadow vehicle at the target trajectory point, the playback start point of the shadow vehicle trajectory is determined.

[0077] In one embodiment, the memory parking interaction device further includes a dynamic rendering module, used for: Start the first thread and the second thread. Use the first thread to render the target vehicle and use the second thread to render the shadow vehicle corresponding to the shadow vehicle trajectory. Based on the real-time parking trajectory and the shadow vehicle trajectory, the real-time distance between the target vehicle and the shadow vehicle is detected. The transparency of the real-time parking trajectory and the shadow vehicle trajectory is dynamically adjusted based on the real-time distance.

[0078] In one embodiment, the memory parking interaction device further includes a trajectory generation module, used for: During the manual parking process of the target vehicle learning the parking route, the operating status data of the target vehicle is collected; Based on the operational status data, a parking map is constructed, and multiple trajectory points containing location and timestamps are generated; Based on the timestamps of each trajectory point, the trajectory points are connected to generate the shadow vehicle trajectory of the target vehicle in the parking map.

[0079] In one embodiment, the memory parking interaction device further includes a quantitative evaluation module, used for: When the target vehicle finishes its memory parking, the real-time parking trajectory and the shadow vehicle trajectory are quantitatively scored. The scoring results are displayed visually in the display area.

[0080] The memory parking interaction device provided in this application, employing the memory parking interaction method in the above embodiments, can solve the technical problem that users find it difficult to quantitatively evaluate the performance of the memory parking function, thus affecting users' trust in the intelligent driving system. Compared with the prior art, the beneficial effects of the memory parking interaction device provided in this application are the same as those of the memory parking interaction method provided in the above embodiments, and other technical features in the memory parking interaction device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0081] This application provides a memory parking interaction device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the memory parking interaction method in the above embodiment 1.

[0082] The following is for reference. Figure 5 The diagram illustrates a structural schematic suitable for implementing the memory parking interaction device in the embodiments of this application. The memory parking interaction device in the embodiments of this application may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 5 The memory parking interaction device shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0083] like Figure 5As shown, the memory parking interaction device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the device. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touchscreen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1003 including, for example, magnetic tape, hard disk, etc.; and communication devices 1009. The communication device 1009 allows the memory parking interaction device to communicate wirelessly or wiredly with other devices to exchange data. Although the figures show memory parking interaction devices with various systems, it should be understood that it is not required to implement or possess all of the systems shown. More or fewer systems may be implemented alternatively.

[0084] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts 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 such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0085] The memory parking interaction device provided in this application, employing the memory parking interaction method in the above embodiments, can solve the technical problem that users find it difficult to quantitatively evaluate the performance of the memory parking function, thus affecting users' trust in the intelligent driving system. Compared with the prior art, the beneficial effects of the memory parking interaction device provided in this application are the same as those of the memory parking interaction method provided in the above embodiments, and other technical features in this memory parking interaction device are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0086] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0087] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0088] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the memory parking interaction method in the above embodiments.

[0089] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having 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 fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0090] The aforementioned computer-readable storage medium may be included in the memory parking interaction device; or it may exist independently and not be assembled into the memory parking interaction device.

[0091] The aforementioned computer-readable storage medium carries one or more programs, which, when executed by the memory parking interaction device, cause the memory parking interaction device to: When the memory parking function of the target vehicle is enabled, obtain the shadow vehicle trajectory of the target vehicle when it is manually parked on the current parking route. During the memory parking process of the target vehicle, the real-time parking trajectory of the target vehicle and the trajectory of the shadow vehicle are simultaneously displayed on a preset display interface to compare and interact with the memory parking process and the manual parking process of the target vehicle.

[0092] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming 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 can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0093] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, 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 also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks 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.

[0094] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0095] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described memory parking interaction method. This solves the technical problem that users find it difficult to quantitatively evaluate the performance of the memory parking function, thus affecting their trust in the intelligent driving system. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the memory parking interaction method provided in the above embodiments, and will not be repeated here.

[0096] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the memory parking interaction method described above.

[0097] The computer program product provided in this application can solve the technical problem that users find it difficult to quantitatively evaluate the performance of the memory parking function, which affects users' trust in the intelligent driving system. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the memory parking interaction method provided in the above embodiments, and will not be repeated here.

[0098] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A method for memory parking interaction, characterized in that, The memory parking interaction method comprises: In the case that the memory parking function of the target vehicle is enabled, a shadow vehicle trajectory of the target vehicle manually parking on a current parking route is acquired; In the process that the target vehicle performs memory parking, a real-time parking trajectory of the target vehicle and the shadow vehicle trajectory are synchronously displayed on a preset display interface, so as to compare and interact the memory parking process and the manual parking process of the target vehicle.

2. The memory parking interaction method of claim 1, wherein, The step of synchronously displaying the real-time parking trajectory of the target vehicle and the shadow vehicle trajectory on the preset display interface comprises: According to a starting position of the target vehicle performing memory parking, a playback starting point of the shadow vehicle trajectory is determined; The real-time parking trajectory of the target vehicle is displayed on the preset display interface, and the shadow vehicle trajectory is synchronously displayed on the display interface starting from the playback starting point.

3. The memory parking interaction method of claim 2, wherein, The step of determining the playback starting point of the shadow vehicle trajectory according to the starting position of the target vehicle performing memory parking comprises: The starting position of the target vehicle performing memory parking is matched with each trajectory point in the shadow vehicle trajectory, so as to determine a target trajectory point closest to the starting position; According to time stamp information corresponding to the shadow vehicle at the target trajectory point, the playback starting point of the shadow vehicle trajectory is determined.

4. The memory parking interaction method according to any one of claims 1 to 3, characterized in that, After the step of synchronously displaying the real-time parking trajectory of the target vehicle and the shadow vehicle trajectory on the preset display interface, the method further comprises: A first thread and a second thread are started, the target vehicle is rendered by using the first thread, and the shadow vehicle corresponding to the shadow vehicle trajectory is rendered by using the second thread; Based on the real-time parking trajectory and the shadow vehicle trajectory, a real-time distance between the target vehicle and the shadow vehicle is detected; According to the real-time distance, the transparency of the real-time parking trajectory and the shadow vehicle trajectory is dynamically adjusted.

5. The memory parking interaction method according to any one of claims 1 to 3, wherein, Before the step of acquiring the shadow vehicle trajectory of the target vehicle manually parking on the current parking route, the method further comprises: In the process that the target vehicle learns the manual parking of the parking route, running state data of the target vehicle is collected; Based on the running state data, a parking map is constructed, and a plurality of trajectory points containing positions and time stamps are generated; According to the time stamps of the trajectory points, the trajectory points are connected, and the shadow vehicle trajectory of the target vehicle is generated in the parking map.

6. The memory parking interaction method according to any one of claims 1 to 3, wherein, After the step of synchronously displaying the real-time parking trajectory of the target vehicle and the shadow vehicle trajectory on the preset display interface, the method further comprises: When the memory parking of the target vehicle ends, the real-time parking trajectory and the shadow vehicle trajectory are quantitatively scored; The scoring result is visually displayed on the display area.

7. A memory parking interactive device, characterized by, The memory parking interaction device comprises: A data acquisition module is configured to acquire, in the case that a memory parking function of a target vehicle is enabled, a shadow vehicle trajectory of the target vehicle manually parking on a current parking route; A comparison interaction module is configured to display the real-time parking trajectory of the target vehicle and the shadow vehicle trajectory synchronously on a preset display interface during the memory parking process of the target vehicle, so as to compare the memory parking process and the manual parking process of the target vehicle.

8. A memory parking interactive device, characterized by, The device comprises a memory, a processor, and a computer program stored on the memory and executable on the processor, and the computer program is configured to implement the steps of the memory parking interaction method according to any one of claims 1 to 6.

9. A storage medium, characterized by The storage medium is a computer readable storage medium, and the storage medium stores a computer program, and the computer program is executed by a processor to implement the steps of the memory parking interaction method according to any one of claims 1 to 6.

10. A computer program product, characterised in that, The computer program product comprises a computer program, and the computer program is executed by a processor to implement the steps of the memory parking interaction method according to any one of claims 1 to 6. The computer program product comprises a computer program, and the computer program is executed by a processor to implement the steps of the memory parking interaction method according to any one of claims 1 to 6.

Images