Parking space detection system and method, storage medium and vehicle

Abstract

The invention provides a parking space detection system and method, a storage medium and a vehicle, and relates to the technical field of vehicles, and the parking space detection system comprises a parking space obtaining module which is used for responding to automatic parking starting of the vehicle and obtaining the information of idle parking spaces around the vehicle; the feature comparison module is used for comparing the obtained idle parking space information with features of parking space information stored by the vehicle and determining a comparison result; and the parking space determination module is used for determining a target parking space according to the comparison result. Therefore, the target parking space can be accurately determined in the plurality of idle parking spaces under the condition that the vehicle is ready to be parked.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a parking space detection system, method, storage medium, and vehicle. Background Technology

[0002] With the rapid development of intelligent vehicles, automatic parking technology has become one of the important research directions and has received widespread attention. Automatic parking technology can automatically search for parking spaces and drive the vehicle into them, accurately parking without driver intervention.

[0003] However, for users with private parking spaces, after activating the automatic parking function, they need to manually select the desired parking space before parking can proceed. Therefore, drivers need to carefully select the space each time, and if the wrong space is selected, they need to drive out again and try parking once more, resulting in a poor parking experience. Summary of the Invention

[0004] This application provides a parking space detection system, method, storage medium, and vehicle that can accurately identify a target parking space among multiple vacant parking spaces.

[0005] To achieve the above objectives, this application adopts the following technical solution:

[0006] Firstly, a parking space detection system is provided, comprising: a parking space acquisition module for acquiring available parking space information around the vehicle in response to the automatic parking start of the vehicle; a feature comparison module for comparing the acquired available parking space information with features of parking space information stored in the vehicle to determine the comparison result; and a parking space determination module for determining the target parking space based on the comparison result.

[0007] Based on the technical solution provided in this application, the parking space acquisition module can acquire information on available parking spaces around the vehicle in response to the start of automatic parking. The feature comparison module compares the acquired available parking space information with the features of parking space information stored in the vehicle to determine the comparison result. The parking space determination module determines the target parking space based on the comparison result. Therefore, the target parking space can be accurately determined after the vehicle's automatic parking is initiated, improving the user's parking experience.

[0008] In one possible implementation, the parking space detection system further includes a parking space display module: the parking space display module is used to display an image of the target parking space based on a preset display format; the preset display format includes increasing the line color value of the parking space frame of the target parking space and / or adding a label to the image of the target parking space.

[0009] Based on the technical solution provided in this application, the target parking space image can be displayed in the parking space display module according to a preset display format. The preset display format includes increasing the line color value of the parking space frame of the target parking space and / or adding a label to the image of the target parking space. Therefore, the target parking space can be highlighted in the parking space image captured by the vehicle, making it easier for users to accurately identify the target parking space in the parking space image.

[0010] In one possible implementation, the aforementioned features include one or more of the following: the location of the parking space, the parking space frame, the parking space sign, and the obstructions around the parking space; the parking space determination module is specifically used to determine the parking space stored in the vehicle as the target parking space when the feature used to indicate an available parking space in the comparison result is the same as the feature of the parking space information stored in the vehicle.

[0011] Based on the technical solution provided in this application, if the characteristics used to indicate an available parking space in the comparison result are the same as the characteristics of the parking space information stored in the vehicle, the parking space stored in the vehicle can be identified as the target parking space. Therefore, the target parking space can be accurately determined based on the characteristics of the available parking space and the characteristics of the stored parking space information.

[0012] In one possible implementation, the parking space determination module is further configured to determine the target parking space in response to the user's parking operation when the characteristics used to indicate an available parking space in the comparison result are different from the characteristics of the parking space information stored in the vehicle.

[0013] Based on the technical solution provided in this application, a target parking space can be determined in response to a user's parking operation even when the characteristics of an available parking space differ from the characteristics of parking space information stored in the vehicle. Therefore, even when no parking space is stored among the available parking spaces, a target parking space can be accurately determined based on the user's parking operation.

[0014] In one possible implementation, the parking space detection system further includes a parking space storage module; a parking space display module, which is also used to display a prompt message when the vehicle completes its first parking in a preset area; the prompt message is used to indicate whether it is necessary to save the parking space information where the vehicle is currently parked; and the parking space storage module is used to store the parking space information where the vehicle is currently parked in response to the user's confirmation operation.

[0015] Based on the technical solution provided in this application, when a vehicle completes its first parking within a preset area, the system can display whether to save the parking space information where the vehicle is currently parked, and in response to the user's confirmation, store the parking space information. Therefore, after completing a parking operation, the parking space information can be saved, facilitating faster identification of the target parking space when parking again.

[0016] In one possible implementation, the aforementioned feature comparison module is specifically used to: in response to a vehicle re-entering the preset area and activating automatic parking, compare the collected information on available parking spaces within the preset area with the parking space information stored in the parking space storage module.

[0017] Based on the technical solution provided in this application, in response to a vehicle re-entering a preset area and activating automatic parking, the collected information on available parking spaces within the preset area is compared with the parking space information stored in the parking space storage module. This allows for accurate identification of the parking space stored within the vehicle from among the available parking spaces.

[0018] In one possible implementation, the parking space detection system further includes a vehicle parking module: the vehicle parking module is used to: detect whether the vehicle is parked within the parking space line of the target parking space in response to receiving a parking signal from the vehicle, and control the vehicle to park if the vehicle is within the parking space line of the target parking space.

[0019] Based on the technical solution provided in this application, in response to receiving a parking signal from a vehicle, it can detect whether the vehicle is parked within the parking lines of the target parking space, and control the vehicle to park if the vehicle is within the parking lines of the target parking space. Therefore, it is possible to accurately control the vehicle to park even when it is parked in the target parking space.

[0020] Secondly, a parking space detection method is provided, which includes: in response to the start of automatic parking of the vehicle, acquiring information on available parking spaces around the vehicle; comparing the acquired information on available parking spaces with features of parking space information stored in the vehicle, and determining the comparison result; and determining the target parking space based on the comparison result.

[0021] In one possible implementation, the method further includes: displaying an image of the target parking space based on a preset display format; the preset display format includes increasing the line color value of the parking space frame of the target parking space and / or adding a label to the image of the target parking space.

[0022] In one possible implementation, the aforementioned features include one or more of the following: the location of the parking space, the parking space frame, the parking space sign, and the obstructions around the parking space; if the feature used to indicate an available parking space in the comparison result is the same as the feature of the parking space information stored in the vehicle, the parking space stored in the vehicle is identified as the target parking space.

[0023] In one possible implementation, the method further includes: determining a target parking space in response to a user's parking operation if the characteristics of the comparison result indicating an available parking space are different from the characteristics of the parking space information stored in the vehicle.

[0024] In one possible implementation, the method further includes: displaying a prompt message when the vehicle completes its first parking within a preset area; the prompt message indicating whether it is necessary to save the parking space information where the vehicle is currently parked; and storing the parking space information where the vehicle is currently parked in response to the user's confirmation operation.

[0025] In one possible implementation, the method further includes: in response to the vehicle re-entering the preset area and activating automatic parking, comparing the collected information on available parking spaces within the preset area with the parking space information stored in the parking space storage module.

[0026] In one possible implementation, the method further includes: in response to receiving a parking signal from the vehicle, detecting whether the vehicle is parked within the parking lines of the target parking space, and controlling the vehicle to park if the vehicle is within the parking lines of the target parking space.

[0027] Thirdly, a computer-readable storage medium is provided, which may be a readable non-volatile storage medium storing computer instructions or programs that, when executed on a computer, enable the computer to perform the parking space detection system described in the first aspect or any of the possible designs described in the first aspect.

[0028] Fourthly, a vehicle capable of implementing the parking space detection system provided in the first aspect. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of this application, 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 this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 A system framework diagram of a parking space detection system provided in an embodiment of this application;

[0031] Figure 2 A schematic diagram of an available parking space image interface for a parking space detection method provided in an embodiment of this application;

[0032] Figure 3 A flowchart illustrating a parking space detection method provided in an embodiment of this application;

[0033] Figure 4 A flowchart of yet another method for detecting parking spaces is provided for embodiments of this application;

[0034] Figure 5A flowchart illustrating a parking space registration method provided in this application embodiment. Detailed Implementation

[0035] To enable those skilled in the art to better understand the technical solutions of this disclosure, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0036] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application 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 this disclosure described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the embodiments of this application as detailed in the appended claims.

[0037] It should also be understood that the term "comprising" indicates the presence of the described feature, whole, step, operation, element and / or component, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements and / or components.

[0038] Before introducing the embodiments of this application, the relevant technical terms involved in the embodiments of this application will be explained. It should be noted that these explanations are for the purpose of making the embodiments of this application easier to understand, and should not be regarded as limiting the scope of protection claimed by the embodiments of this application.

[0039] Automatic parking technology refers to a technology that allows a vehicle to automatically drive to a parking space without driver intervention, based on intelligent driving algorithms to determine the route from the vehicle's current location.

[0040] Typically, to determine the exact location of a parking space, the radar installed on the vehicle body and the images captured by the surround-view camera installed on the vehicle body are used to draw the parking space and obtain and locate its exact location.

[0041] In automatic parking systems, users who have purchased parking spaces need to manually select a space after activating the automatic parking function before they can proceed with parking. This requires drivers to carefully select a space each time, and if the wrong space is selected, the driver has to drive out and park again, resulting in a poor parking experience.

[0042] In view of this, embodiments of this application provide a parking space detection system, including: a parking space acquisition module, used to acquire information on available parking spaces around the vehicle in response to the initiation of automatic parking by the vehicle; a feature comparison module, used to compare the acquired available parking space information with features of parking space information stored in the vehicle, and determine the comparison result; and a parking space determination module, used to determine the target parking space based on the comparison result. Thus, the target parking space can be accurately determined from multiple available parking spaces.

[0043] For ease of understanding, the parking space detection system provided in this application will be described in detail below with reference to the accompanying drawings.

[0044] Figure 1 A system framework diagram of a parking space detection system provided in this application embodiment is shown below. Figure 1 As shown in the figure, the system framework diagram may include a parking space acquisition module 101, a feature comparison module 102, a parking space determination module 103, a parking space display module 104, a parking space storage module 105, and a vehicle parking module 106.

[0045] The parking space acquisition module 101 is used to acquire information on available parking spaces around the vehicle in response to the start of automatic parking of the vehicle.

[0046] In one possible implementation, the parking space acquisition module 101 can collect images of available parking spaces around the vehicle using a surround-view camera, and determine the parking space frame, parking space number, and obstacles around the parking space based on the images.

[0047] In another possible implementation, the parking space acquisition module 101 can also acquire the vehicle's location through the vehicle's Global Positioning System (GPS) and determine the location of the vacant parking space based on the vehicle's location and the vacant parking space image.

[0048] The feature comparison module 102 is used to compare the features of the acquired vacant parking space information with the features of the parking space information stored in the vehicle, and determine the comparison result.

[0049] In the embodiments of this application, the features include one or more of the following: the location of the parking space, the parking space frame, the parking space sign, and the obstructions around the parking space.

[0050] In one possible implementation, the feature comparison module 102 can compare the collected vacant parking space information within the preset area with the parking space information stored in the parking space storage module when the vehicle re-enters the preset area and automatic parking is activated. The preset area can be set as needed; for example, the preset area can be the area surrounding a parking space in a parking lot, etc., and there is no limitation here.

[0051] The parking space determination module 103 is used to determine the target parking space based on the comparison results.

[0052] In one possible implementation, the parking space determination module 103 can determine the parking space stored in the vehicle as the target parking space if the characteristics of the comparison result indicating the available parking space are the same as the characteristics of the parking space information stored in the vehicle.

[0053] In another possible implementation, the parking space determination module 103 can determine the target parking space in response to the user's parking operation if the characteristics of the comparison result indicating the available parking space are different from the characteristics of the parking space information stored in the vehicle.

[0054] The parking space display module 104 is used to display an image of a target parking space based on a preset display format. The preset display format includes increasing the line color value of the parking space frame of the target parking space and / or adding a label to the image of the target parking space.

[0055] For example, the vehicle controller can control the display screen on the vehicle to set the color of the parking space frame of the target parking space to a color with a higher color value (such as a red light), and set the color of the parking space frames of other parking spaces to a color with a lower color value (such as a gray light). Alternatively, the vehicle controller can also thicken the lines of the parking space frame of the target parking space, or add a label indicating that the target parking space is in the upper right corner of the target parking space, or display the image of the target parking space in a preset display format, etc., which is not limited in the embodiments of this application.

[0056] The parking space display module 104 is also used to display a prompt message when a vehicle completes its first parking within a preset area. The prompt message indicates whether the parking space information where the vehicle is currently parked needs to be saved.

[0057] The parking space storage module 105 is used to store the parking space information where the vehicle is currently parked in response to the user's confirmation operation.

[0058] The vehicle parking module 106 is used to detect whether the vehicle is parked within the parking lines of the target parking space in response to receiving the vehicle parking signal, and to control the vehicle to park if the vehicle is within the parking lines of the target parking space.

[0059] The above describes the functions of each module in the parking space detection system. The following section will explain in detail the relationships between these modules.

[0060] In this embodiment of the application, in response to the driver's operation of starting the vehicle's automatic parking, the parking space acquisition module 101 acquires information on available parking spaces around the vehicle.

[0061] The vacant parking space information may include the location of the vacant parking space, the parking space frame, the parking space number, and one or more obstacles around the parking space.

[0062] The parking space acquisition module 101 can collect images of available parking spaces in the surrounding area using the surround-view camera on the vehicle, and extract the parking space frame, parking space number, and obstacles around the parking space using an image extraction algorithm. Thus, the vehicle controller obtains the available parking space information.

[0063] For example, the images of available parking spaces acquired by the vehicle controller can be as follows: Figure 2 As shown, the available parking space image displays images of parking spaces with multiple spaces, for example... Figure 2 Parking spaces 001, 002, and 003 are listed. 001, 002, and 003 represent the parking space numbers.

[0064] In the embodiments of this application, the image extraction algorithm may include, but is not limited to, the histogram of oriented gradient (HOG), the scale-invariant feature transform (SIFT), the difference of Gaussian (DOG), and the local binary pattern (LBP) algorithm. The embodiments of this application do not limit the image extraction algorithm.

[0065] Once the available parking space information is determined, the feature comparison module 102 compares the acquired available parking space information with the features of the parking space information stored in the vehicle to determine the comparison result.

[0066] In one possible implementation, the feature comparison module 102 determines that the vacant parking space is the parking space stored in the vehicle if the location, parking space number, and obstacles around the parking space are the same as those in the vacant parking space information stored in the vehicle.

[0067] In another possible implementation, the feature comparison module 102 determines that the vacant parking space is different from the parking space stored in the vehicle if the location, parking space number, and obstacles around the parking space are different from those of the vacant parking space information and the parking space information stored in the vehicle.

[0068] The parking space determination module 103 determines the target parking space based on the comparison results.

[0069] In one possible implementation, the parking space determination module 103 determines the parking space stored in the vehicle as the target parking space when the comparison result indicates that the available parking space is a parking space stored in the vehicle.

[0070] In another possible implementation, if the comparison result indicates that the available parking space differs from the parking space stored in the vehicle, the parking space determination module 103 determines the target parking space in response to the user's parking operation. For example, as shown... Figure 2 As shown, the vehicle controller can set the parking space frames of multiple parking spaces in the parking space image as selectable interfaces. In response to the user selecting the image of parking space 001 for parking, the vehicle controller determines the target parking space as parking space 001. The vehicle controller executes an automatic parking operation, parking the vehicle in parking space 001.

[0071] In this embodiment, after a target parking space is determined, the parking space display module 104 can display an image of the target parking space on the vehicle's display screen based on a preset display format. When the vehicle completes its first parking, the parking space display module 104 can also display a prompt asking whether the vehicle's current parking space information needs to be saved. In response to the user's confirmation, the parking space storage module 105 stores the vehicle's current parking space information.

[0072] Furthermore, the vehicle receives a parking signal in response to the driver's activation of the electronic brakes or pressing of the P gear. When the vehicle receives the parking signal, the vehicle parking module 106 detects whether the vehicle is parked within the parking lines of the target parking space, and controls the vehicle to park if the vehicle is within the parking lines of the target parking space.

[0073] Based on the embodiments of this application Figure 1 The provided technical solution allows the parking space acquisition module to acquire information on available parking spaces around the vehicle in response to the initiation of automatic parking. The feature comparison module compares the acquired available parking space information with features from the vehicle's stored parking space information to determine the comparison result. The parking space determination module then identifies the target parking space based on the comparison result. Therefore, the target parking space can be accurately determined after the vehicle's automatic parking is initiated, improving the user's parking experience.

[0074] The parking space detection method provided in the embodiments of this application will be described below with reference to the accompanying drawings. The actions, terminology, etc., involved in the various embodiments of this application can be referred to mutually without limitation. The message names or parameter names in the messages exchanged between various devices in the embodiments of this application are merely examples, and other names may be used in specific implementations without limitation. The actions involved in the various embodiments of this application are merely examples, and other names may be used in specific implementations. For example, "included in" in the embodiments of this application can also be replaced with "carried on" or "carried in," etc.

[0075] The technical solution of this application can be implemented by a vehicle controller or an on-board terminal, etc. The following explanation uses a vehicle controller as an example.

[0076] Figure 3 A flowchart of a method for detecting parking spaces is provided in this application embodiment, as shown below. Figure 3 As shown, the method includes:

[0077] S301, The vehicle controller responds to the start of automatic parking by obtaining information on available parking spaces around the vehicle.

[0078] In one possible implementation, in response to the initiation of automatic parking, the vehicle controller can acquire images of available parking spaces in the surrounding area using the vehicle's surround-view cameras. An image extraction algorithm is then used to extract the parking space frame, parking space number, and surrounding obstacles. Thus, the vehicle controller obtains the available parking space information.

[0079] In another possible implementation, the vehicle controller can also obtain the vehicle's location through the vehicle's GPS system and determine the location of the available parking space based on the vehicle's location and the image of the available parking space.

[0080] For example, the vehicle controller obtains the vehicle's position as the middle of the road in a parking lot, and the image of the available parking space is captured by the surround-view camera on the right side of the vehicle, at a distance of 3 meters. Therefore, the vehicle controller determines the location of the available parking space as 3 meters to the right of the vehicle's current location.

[0081] S302. The vehicle controller compares the acquired available parking space information with the characteristics of the parking space information stored in the vehicle to determine the comparison result.

[0082] In one possible implementation, the vehicle controller determines that the available parking space is the one stored in the vehicle if the location, parking space number, and surrounding obstacles are the same as those in the parking space information stored in the vehicle.

[0083] In another possible implementation, the vehicle controller determines that the available parking space is different from the parking space stored in the vehicle if the location, parking space number, and obstacles around the parking space are different from those stored in the vehicle.

[0084] S303, the vehicle controller determines the target parking space based on the comparison results.

[0085] In one possible implementation, the vehicle controller determines the parking space stored in the vehicle as the target parking space if the comparison result indicates that the available parking space is a parking space stored in the vehicle.

[0086] In another possible implementation, if the comparison result indicates that the available parking space differs from the parking space stored in the vehicle, the vehicle controller, in response to the user's parking operation, determines the target parking space. In this embodiment, when the vehicle completes its first parking within a preset area, the vehicle controller can display a prompt message on the control display screen. The prompt message indicates whether the vehicle's current parking space information needs to be saved. In response to the user's confirmation operation, the vehicle controller stores the vehicle's current parking space information.

[0087] Once the vehicle has completed parking, the vehicle controller, upon receiving the parking signal, checks whether the vehicle is parked within the parking lines of the target parking space. If the vehicle is within the parking lines of the target parking space, the automatic parking operation ends.

[0088] Based on the embodiments of this application Figure 3 The provided technical solution allows the vehicle controller to respond to the initiation of automatic parking by acquiring information on available parking spaces around the vehicle. This information is then compared with features of parking space information stored in the vehicle's database. The comparison result is used to determine the target parking space. This allows for accurate identification of the target parking space among multiple available spaces.

[0089] Figure 4 A flowchart of yet another method for detecting parking spaces is provided for embodiments of this application, such as... Figure 4 As shown, the method includes:

[0090] S401, When the vehicle arrives at the preset position in the parking lot, the vehicle controller controls the vehicle display screen to show the interactive interface for automatic parking.

[0091] The automatic parking interface may include automatic parking controls. These controls can be displayed using a water ripple animation. The automatic parking controls are used to respond to user triggers and send automatic parking commands to the vehicle controller.

[0092] In one possible implementation, a GPS device installed on the vehicle can detect the vehicle's location. When the vehicle is located at a preset position in the parking lot, the vehicle controller controls the vehicle's display screen to show the automatic parking interface.

[0093] In this embodiment, the preset location of the parking lot can be set as needed. The preset location of the parking lot may include the area surrounding a parking space, etc., and is not limited here.

[0094] S402. In response to the user's operation of the automatic parking control in the interactive interface, the vehicle controller obtains the automatic parking command and executes the automatic parking operation according to the automatic parking command.

[0095] In one possible implementation, upon receiving an automatic parking command, the vehicle controller can acquire an image of the target parking space using surround-view cameras and ultrasonic radar installed on the vehicle. Based on the image, the vehicle controller determines the location of the target parking space. Then, using intelligent driving algorithms, the vehicle controller calculates the driving route between the target parking space and the current vehicle position. Finally, the vehicle controller controls the vehicle to drive to the target parking space according to the driving route.

[0096] The intelligent driving algorithm includes perception, prediction, and planning modules, and is supplemented by mapping, positioning, and other technologies to achieve autonomous driving functions. The intelligent driving algorithm may include the Apollo perception algorithm, simultaneous localization and mapping (SLAM) algorithm, etc., and the embodiments in this application are not limited thereto.

[0097] In this embodiment, the location of the target parking space can be determined by the vehicle's historical parking locations. In this application, once the target parking space is determined, its bounding box can be highlighted in the acquired image to facilitate differentiation between the target parking space and other parking spaces.

[0098] In one possible implementation, the method for determining the location of the target parking space includes: the vehicle controller acquiring multiple historical parking locations of the vehicle. If the multiple historical parking locations are the same location, the historical parking location is determined as the target parking space. If the multiple parking locations include different parking locations, the target parking space is determined based on the user's selection operation.

[0099] Furthermore, once the target parking space is determined, the vehicle controller uses the surround-view camera on the vehicle to capture an image of the target parking space and determines whether the target parking space is occupied based on the image.

[0100] When the target parking space is vacant, the vehicle controller executes an automatic parking operation according to the automatic parking command, so that the vehicle can park in the target parking space.

[0101] If the target parking space is not available, in response to the user's selection, the vehicle controller determines the first available parking space. Once the first parking space is determined, the vehicle controller executes an automatic parking operation according to the automatic parking command, allowing the vehicle to park in the first parking space.

[0102] In this embodiment, the vehicle controller can acquire an image of a first parking space by collecting images of the area surrounding the target parking space. Specifically, the vehicle controller displays a parking space image interface based on the collected images of the parking spaces surrounding the target parking space. In response to a user's selection operation in the parking space image interface, the first parking space is determined.

[0103] The parking space image interface displays images of multiple parking spaces near the target parking space.

[0104] For example, such as Figure 2 As shown, the parking space image interface displayed by the vehicle controller shows images of multiple parking spaces, for example... Figure 2 The image shows parking spaces 001, 002, and 003. 001, 002, and 003 represent the parking space numbers. The vehicle controller can set multiple parking space frames in the parking space image as selectable interfaces. In response to the user selecting the image of parking space 001, the vehicle controller determines the first parking space as 001. The vehicle controller then performs an automatic parking operation, parking the vehicle in parking space 001.

[0105] S403, The vehicle controller responds to the vehicle's parking signal and ends the automatic parking operation.

[0106] The parking signal can be obtained by triggering the electronic brakes through the vehicle controller, or by responding to the user pressing the P gear.

[0107] In one possible implementation, the vehicle controller, upon receiving a parking signal from the vehicle, detects whether the vehicle is parked within the parking lines of the target parking space. If the vehicle is within the parking lines of the target parking space, the automatic parking operation ends.

[0108] In this embodiment, after the vehicle finishes automatic parking, the vehicle controller can also send information about the target parking space to the user's smart device connected to the vehicle. The target parking space information includes the location and number of the target parking space, as well as one or more spaces within the parking space frame.

[0109] After receiving information about the target parking space, the smart device obtains the user's power-off command and sends it to the vehicle controller. Upon receiving the power-off command from the smart device, the vehicle controller controls the vehicle to power off. The smart device can include one or more mobile terminals or laptops.

[0110] Based on the embodiments of this application Figure 4The provided technical solution displays an automatic parking interface when the vehicle arrives at a preset location in the parking lot. The vehicle responds to the user's activation of the automatic parking controls on the interface, receives the automatic parking command, and executes the automatic parking operation accordingly. Finally, upon receiving a parking signal, the automatic parking operation ends. Therefore, when a user requires automatic parking, the vehicle can automatically determine the specific parking location and perform automatic parking, improving the user's parking experience.

[0111] Figure 5 A flowchart of a parking space registration method is provided for embodiments of this application, such as... Figure 5 As shown, the method includes:

[0112] S501, the vehicle controller stores the information of the registered parking spaces.

[0113] The registered parking space can also be referred to as the target parking space. The information of the registered parking space includes one or more of the following: the location information of the parking space, the parking space number, and the information of the parking space frame.

[0114] In one possible implementation, the vehicle controller can display registration information after the vehicle completes an automatic parking maneuver. This registration information prompts the user whether the current parking space needs to be saved. In response to the user's selection to agree to register the parking space information, the vehicle controller saves the current parking space's location information, parking space number, parking space frame information, and the parking lot's location information. In response to the user's selection to disagree with registering the parking space information, the vehicle controller does not save the current parking space information.

[0115] S502, the vehicle controller performs automatic parking.

[0116] In one possible implementation, when a vehicle enters a parking lot, the vehicle controller determines whether the parking lot has a registered parking space saved. If the parking lot has a registered parking space saved, the vehicle controller controls the vehicle to drive to the registered parking space based on the saved location information of the registered parking space.

[0117] The vehicle controller uses surround-view cameras to capture images of registered parking spaces and determines whether a space is suitable for parking. If a space is suitable, the vehicle controller uses intelligent driving algorithms to automatically park the vehicle and move it into the space.

[0118] Furthermore, if no registered parking spaces are stored in the parking lot, the vehicle controller uses surround-view cameras to capture images of nearby available parking spaces. The vehicle controller generates a parking space image interface based on these images and controls the display screen to show this interface. In response to the user selecting a parking space in the image interface, the vehicle controller displays a prompt asking whether registration for that space is required. Based on the user's actions, the vehicle controller determines whether registration for the available parking space is necessary.

[0119] If the user agrees to register the parking space information, the vehicle controller saves the current parking space's location information, parking space number, parking space frame information, and parking lot location information. If the user disagrees to register the parking space information, the vehicle controller does not process the current parking space.

[0120] Based on the embodiments of this application Figure 5 The provided technical solution allows the vehicle controller to automatically park the vehicle based on stored registered parking space information when automatic parking is required, eliminating the need for user selection and preventing user errors. Furthermore, the vehicle controller can continuously learn and determine registered parking space information from multiple parking lots, facilitating automatic parking in different parking environments.

[0121] This application also provides a computer-readable storage medium. All or part of the processes in the above method embodiments can be implemented by a computer program instructing related hardware. This program can be stored in the aforementioned computer-readable storage medium. When executed, the program can include the processes described in the above method embodiments. The computer-readable storage medium can be an internal storage unit of the device (including a data transmitter and / or a data receiver) of any of the foregoing embodiments, such as the device's hard disk or memory. The aforementioned computer-readable storage medium can also be an external storage device of the aforementioned terminal device, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the aforementioned terminal device.

[0122] Furthermore, the aforementioned computer-readable storage medium may include both internal storage units and external storage devices of the aforementioned apparatus. The aforementioned computer-readable storage medium is used to store the aforementioned computer program and other programs and data required by the aforementioned apparatus. The aforementioned computer-readable storage medium may also be used to temporarily store data that has been output or will be output.

[0123] It should be noted that the terms "first" and "second," etc., in the specification, claims, and drawings of this application are used to distinguish different objects, not to describe a specific order. 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 includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0124] It should be understood that in this application, "at least one (item)" means one or more, "more than one" means two or more, "at least two (items)" means two or three or more, and "and / or" is used to describe the relationship between related objects, indicating that there can be three relationships. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the related objects before and after are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0125] Through the above description of the embodiments, those skilled in the art can clearly understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0126] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0127] The units described as separate components may or may not be physically separate. A component shown as a unit can be one or more physical units; that is, it can be located in one place or distributed in multiple different locations. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0128] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0129] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, essentially, or the parts that contribute to the prior art, or all or part of the technical solutions, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0130] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions within the technical scope 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.

Claims

1. A parking space detection system, characterized in that, The parking space detection system includes: The parking space acquisition module is used to acquire information on available parking spaces around the vehicle in response to the start of automatic parking of the vehicle. The feature comparison module is used to compare the acquired vacant parking space information with the features of the parking space information stored in the vehicle, and determine the comparison result; The parking space determination module is used to determine the target parking space based on the comparison results.

2. The system according to claim 1, characterized in that, The parking space detection system also includes a parking space display module: The parking space display module is used to display an image of the target parking space based on a preset display format; The preset display format includes increasing the line color value of the parking space frame of the target parking space and / or adding a label to the image of the target parking space.

3. The system according to claim 1, characterized in that, The features include one or more of the following: the location of the parking space, the parking space frame, the parking space sign, and the obstructions around the parking space; The parking space determination module is specifically used to determine the parking space stored in the vehicle as the target parking space when the comparison result indicates that the features of the vacant parking space are the same as the features of the parking space information stored in the vehicle.

4. The system according to claim 3, characterized in that, The parking space determination module is specifically used to determine the target parking space in response to the user's parking operation when the comparison result indicating that the characteristics of the vacant parking space are different from the characteristics of the parking space information stored in the vehicle.

5. The system according to claim 2, characterized in that, The system also includes a parking space storage module; The parking space display module is also used to display a prompt message when the vehicle completes its first parking in a preset area; the prompt message is used to indicate whether it is necessary to save the parking space information where the vehicle is currently parked. The parking space storage module is used to store the parking space information where the vehicle is currently parked in response to the user's confirmation operation.

6. The system according to claim 5, characterized in that, The feature comparison module is specifically used to: in response to the vehicle re-entering the preset area and activating automatic parking, compare the collected vacant parking space information in the preset area with the parking space information stored in the parking space storage module.

7. The system according to any one of claims 1-6, characterized in that, The system also includes a vehicle parking module: The vehicle parking module is used to: in response to receiving a parking signal from the vehicle, detect whether the vehicle is parked within the parking lines of the target parking space, and control the vehicle to park if the vehicle is within the parking lines of the target parking space.

8. A method for detecting parking spaces, characterized in that, Applied to vehicles, the method includes: In response to the activation of automatic parking of the vehicle, information on available parking spaces around the vehicle is obtained; The acquired vacant parking space information is compared with the features of the parking space information stored in the vehicle to determine the comparison result; The target parking space is determined based on the comparison results.

9. A computer-readable storage medium storing instructions, characterized in that, When the computer executes the instruction, the computer executes the parking space detection system as described in any one of claims 1-7.

10. A vehicle, characterized in that, The system includes a parking space detection system according to any one of claims 1-7.

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