Parking control method, device and vehicle

Abstract

This invention discloses a parking control method, device, and vehicle, relating to the field of intelligent parking technology. The specific implementation of this invention includes: responding to the recognition of a user's parking intention, locating a parking lot for the vehicle, interacting with the server corresponding to the parking lot, and determining a target parking space that is currently vacant within the parking lot based on the interaction result; mapping the target parking space to a scene map corresponding to the parking lot, and locating the relative positional relationship between the vehicle and the target parking space on the scene map; activating the vehicle's memory parking function, and using the memory parking function based on the scene map and the relative positional relationship located on the scene map to control the vehicle to park in the target parking space. This implementation broadens the application scenarios of memory parking, improves the utilization rate of the memory parking function, reduces the user's parking burden, improves the user's parking experience, and overall improves the vehicle's cost-effectiveness.

Description

Technical Field

[0001] This invention relates to the field of intelligent parking technology, and in particular to a parking control method, device, and vehicle. Background Technology

[0002] Currently, some vehicles are equipped with a memory parking function. However, when using this function, the target parking space may be occupied, leading to memory parking operation failure or the function disabling, ultimately requiring the driver to manually park. This limits the scenarios in which the memory parking function can be used smoothly, resulting in low utilization and reduced vehicle cost-effectiveness. Summary of the Invention

[0003] In view of this, embodiments of the present invention provide a parking control method, device, and vehicle that determines the target parking space in an vacant state by interacting with the parking lot server, rather than being limited to the parking space remembered by the vehicle. This broadens the application scenarios of memory parking, improves the utilization rate of the memory parking function, reduces the parking burden on users, improves the parking experience for users, and improves the overall cost-effectiveness of the vehicle.

[0004] To achieve the above objectives, according to one aspect of the present invention, a parking control method is provided, comprising: In response to the recognition that a user intends to park, the system locates a parking lot for the vehicle, interacts with the server corresponding to the parking lot, and determines the target parking space that is available in the parking lot based on the interaction result. The target parking space is mapped to the scene map corresponding to the parking lot, and the relative positional relationship between the vehicle and the target parking space is located on the scene map; Activate the vehicle's memory parking function, and use the memory parking function to control the vehicle to park in the target parking space based on the scene map and the relative position relationship located on the scene map.

[0005] Optionally, mapping the target parking space to the scene map corresponding to the parking lot includes: Determine the parking space ID corresponding to the target parking space within the parking lot; Based on the correspondence between the parking space IDs of the parking lot obtained from the server and the parking space codes on the scene map, the target parking space code corresponding to the parking space ID on the scene map is determined.

[0006] Optionally, locating the relative position between the vehicle and the target parking space on the scene map includes: The environmental features of the vehicle's location are compared with the features included in the scene map, and the vehicle's location is located on the scene map based on the comparison results. Based on the pre-built correspondence between parking space codes and scene map coordinates, the location corresponding to the target parking space code is located on the scene map.

[0007] Optionally, the step of using the memory parking function to control the vehicle to park in the target parking space based on the scene map and the relative positional relationship located on the scene map includes: From the historical driving data corresponding to the memory parking function, search for target historical driving data that matches the relative position relationship; Based on the memory parking function, the scene map, and the target historical driving data, the vehicle is controlled to park in the target parking space.

[0008] Optionally, the step of searching for target historical driving data that matches the relative positional relationship includes: The target driving route from the vehicle's location to the target parking space is found from the historical driving data, and the target driving route is displayed on the scene map. The historical control parameters of the vehicle during its journey along the target driving path are retrieved from the historical driving data.

[0009] Optionally, Before mapping the target parking space to the scene map corresponding to the parking lot, the method further includes: obtaining the scene map corresponding to the parking lot from the server; or, A scene map of the parking lot is constructed based on the vehicle's memory parking function.

[0010] Optionally, before searching for target historical driving data that matches the relative positional relationship, the method further includes: obtaining historical driving data of the target vehicle using the memory parking function in the parking lot from the server; the target vehicle includes one or more features that are consistent with the vehicle.

[0011] Optionally, the method further includes: A notification instructing the vehicle to complete parking at the target parking space is sent to the server, so that the server updates the parking space status in the parking lot in the database according to the notification.

[0012] Optionally, the interaction results include: the real-time parking status of each parking space in the parking lot; The step of determining the target parking space that is vacant in the parking lot based on the interaction result includes: Based on the real-time parking status of each parking space in the parking lot, find the target parking space that is vacant and matches the parking space information stored in the vehicle's memory parking.

[0013] Optionally, determining the target parking space that is vacant in the parking lot based on the interaction result further includes: The real-time parking space status is combined with the scene map of the parking lot and rendered to obtain the real-time map of the parking lot; The real-time map is displayed on the vehicle's in-vehicle screen to show the real-time status of the parking space; Receive a parking space selection command input by the user, and determine the parking space indicated by the parking space selection command as the target parking space.

[0014] To achieve the above objectives, according to another aspect of the present invention, a parking control device is provided, applied to a vehicle, comprising: an interaction module, a mapping module, and a parking module, wherein... The interaction module, in response to recognizing the user's intention to park, locates the parking lot for the vehicle, interacts with the server corresponding to the parking lot, and determines the target parking space that is vacant in the parking lot based on the interaction result. The mapping module is used to map the target parking space to the scene map corresponding to the parking lot, and to locate the relative positional relationship between the vehicle and the target parking space on the scene map; The parking module is used to activate the vehicle's memory parking function, and use the memory parking function to control the vehicle to park in the target parking space based on the scene map and the relative position relationship located on the scene map.

[0015] To achieve the above objectives, according to another aspect of the present invention, a parking control system is provided, characterized in that it includes: the parking control device described in the above embodiments and a server corresponding to each parking lot. The parking control device, in response to recognizing a user's parking intention, locates a parking lot for the vehicle, interacts with the server corresponding to the parking lot, and determines a target parking space that is vacant within the parking lot based on the interaction result; maps the target parking space to the scene map corresponding to the parking lot, and locates the relative positional relationship between the vehicle and the target parking space on the scene map; activates the vehicle's memory parking function, and uses the memory parking function to control the vehicle to park in the target parking space based on the scene map and the relative positional relationship located on the scene map.

[0016] Optionally, the server is configured to receive a request from the vehicle regarding the real-time parking space status of the parking lot, and to provide feedback on the real-time parking space status of the parking lot to the vehicle in response to the request.

[0017] Optionally, the server is configured to determine the parking space ID and real-time parking space status of each parking space in the parking lot; determine the corresponding parking space code on the scene map for each parking space ID based on the correspondence between the parking space IDs in the parking lot and the parking space codes on the scene map; and update the parking space status of the corresponding parking space code on the scene map based on the real-time parking space status corresponding to each parking space ID.

[0018] To achieve the above objectives, according to another aspect of the present invention, a vehicle is provided, including: the parking control device described in the above embodiments.

[0019] One embodiment of the above invention has the following advantages or beneficial effects: by interacting with the parking lot server to determine the target parking space that is in an vacant state, that is, the target parking space is no longer limited to the parking space remembered by the vehicle. Furthermore, by mapping the target parking space to the scene map corresponding to the parking lot, based on the vehicle's memory parking function and the scene map, the vehicle can be parked in the target parking space, thereby expanding the application scenarios of memory parking, improving the utilization rate of memory parking function, reducing the parking burden of users, improving the parking experience of users, and improving the overall cost performance of the vehicle.

[0020] The further effects of the aforementioned unconventional alternative methods will be explained below in conjunction with specific implementation methods. Attached Figure Description

[0021] The accompanying drawings are provided to better understand the invention and are not intended to unduly limit the scope of the invention. Wherein: Figure 1 This is a schematic diagram of the main steps of a parking control method according to an embodiment of the present invention; Figure 2 This is a schematic diagram of memory parking according to an embodiment of the present invention; Figure 3 This is a schematic diagram of memory parking according to another embodiment of the present invention; Figure 4 This is a schematic diagram of the main steps of a parking control method according to another embodiment of the present invention; Figure 5 This is a schematic diagram of the main modules of a parking control device according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the main modules of a parking control system according to an embodiment of the present invention; Figure 7This is a schematic diagram of a vehicle according to an embodiment of the present invention; Figure 8 This is an exemplary system architecture diagram in which embodiments of the present invention can be applied; Figure 9 This is a schematic diagram of the structure of a computer system suitable for implementing terminal devices or servers of the present invention. Detailed Implementation

[0022] The following description, in conjunction with the accompanying drawings, illustrates exemplary embodiments of the present invention, including various details to aid understanding. These details should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the invention. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0023] It should be noted that, unless otherwise specified, the embodiments of the present invention and the technical features thereof can be combined with each other.

[0024] Figure 1 This is a schematic diagram of the main steps of the parking control method according to an embodiment of the present invention.

[0025] like Figure 1 As shown, the parking control method of this invention mainly includes steps S101-S103: Step S101: In response to recognizing that the user has the intention to park, locate the parking lot for the vehicle, interact with the server corresponding to the parking lot, and determine the target parking space that is vacant in the parking lot based on the interaction result. Step S102: Map the target parking space to the scene map corresponding to the parking lot, and locate the relative positional relationship between the vehicle and the target parking space on the scene map; Step S103: Activate the vehicle's memory parking function. Using the memory parking function, control the vehicle to park in the target parking space based on the scene map and the relative position relationship located on the scene map.

[0026] The parking control method of this invention is executed by a vehicle, specifically an on-board unit. Specifically, identifying a vehicle user's parking intention includes: identifying that the vehicle's navigation destination is a parking lot and it is approaching the entrance; identifying that the vehicle has already entered the parking lot; identifying that the user has input a parking instruction; or identifying that the user has input an instruction to park, etc. Upon identifying the user's parking intention, the system locates the parking lot where the vehicle is located using the vehicle's positioning function, establishes a communication connection with the parking lot's server, sends a request to the server to obtain the real-time parking space status of the parking lot, and receives response information returned by the server. This response information may include one vacant parking space or multiple vacant parking spaces. The response information including one vacant parking space falls into two categories: either the parking lot has only one vacant parking space remaining, or the server has already allocated or designated an vacant parking space for the vehicle. If the response information includes one vacant parking space, that parking space can be directly identified as the target parking space. When the response information includes multiple available parking spaces, the user can interact with the system to select a parking space as the target space. Alternatively, the target space can be selected based on the vehicle's memory parking function, which stores historical parking space information. The vehicle establishes a communication connection with the server via its own communication module, which may include a T-BOX module or the vehicle's wireless network module.

[0027] The target parking space is determined based on the interaction with the server, i.e., the parking space ID, such as B1-A-063. To utilize the vehicle's memory parking function to park the vehicle in this target space, which is based on the corresponding scene map, the target parking space needs to be mapped onto the parking lot's scene map. The relative position between the vehicle and the target parking space needs to be determined on the scene map so that the memory parking function can park the vehicle in the target space based on the scene map and the relative position between the vehicle and the target parking space.

[0028] In one embodiment, the vehicle is located at parking lot entrance E, and the target parking space ID is 020. The vehicle's memory parking function is activated. Based on the parking lot's scene map and the relative positional relationship between parking lot entrance E and target parking space 020, the memory parking function controls the vehicle to drive to target parking space 020 and parks the vehicle there. Figure 2 The diagram shows a vehicle performing memory parking from parking lot entrance E to target parking space 020. L1 represents the parking path from parking lot entrance E to target parking space 020, 020 represents the target parking space, E represents the parking lot entrance, E also represents the vehicle's location, and V represents the vehicle itself.

[0029] This embodiment avoids the situation where the parking space may already be occupied when performing memory parking based solely on the remembered historical parking space, which is common in existing technologies. It reduces the number of parking failures due to occupied parking spaces, and expands the applicable scenarios for memory parking, thereby increasing the utilization rate of the memory parking function, reducing the parking burden on users, improving the user's parking experience, and improving the overall cost-effectiveness of the vehicle.

[0030] In an optional embodiment of the present invention, mapping the target parking space to the scene map corresponding to the parking lot includes: determining the parking space ID corresponding to the target parking space in the parking lot; and determining the target parking space code corresponding to the parking space ID on the scene map based on the correspondence between the parking space ID of the parking lot obtained from the server and the parking space code on the scene map.

[0031] In this context, the target parking space refers to a physical parking space within the parking lot, specifically a parking space determined for the vehicle through interaction with the server. The target parking space ID refers to the physical parking space identifier within the parking lot. The target parking space code refers to the virtual parking space identifier corresponding to the target parking space on the scene map. For example, the target parking space ID can be represented as B1-A-063, and the target parking space code on the scene map can be represented as 123456789. In this embodiment, the physical parking space identifier within the parking lot is represented by "parking space ID," and it can be understood that the target parking space ID is one or more of the parking space IDs in the parking lot. The virtual parking space identifier on the scene map is represented by "parking space code," thus distinguishing between a parking space identifier within the parking lot and a parking space identifier on the scene map.

[0032] There is a pre-built correspondence between the parking space IDs of (physical) parking spaces in a parking lot and the parking space codes of (virtual) parking spaces on the scene map of that parking lot. Based on this correspondence, the target parking space is mapped to the scene map of the parking lot. For example, if the target parking space ID is B1-A-063, according to the correspondence between the parking space IDs and the parking space codes on the scene map, such as B1-A-063 / 123456789, the parking space code corresponding to parking space ID B1-A-063 on the scene map is determined to be 123456789, and the location coordinates corresponding to 123456789 are determined on the scene map. These location coordinates are the location coordinates of the target parking space on the map.

[0033] This embodiment maps the parking space ID of the target parking space in the parking lot to the scene map of the parking lot, realizing the association between the physical parking space and the location coordinates on the scene map. It builds a bridge between the parking lot server and the vehicle memory parking function, allowing users to use the memory parking function to park their vehicles in the available parking spaces indicated by the server, improving the success rate of memory parking operations and providing convenience for users to park.

[0034] In an optional embodiment of the present invention, locating the relative positional relationship between a vehicle and a target parking space on a scene map includes: comparing the environmental features of the vehicle's location with the features included in the scene map, and locating the vehicle's position on the scene map based on the comparison results; and locating the position corresponding to the target parking space code on the scene map based on the pre-constructed correspondence between parking space codes and scene map coordinates.

[0035] Specifically, while a vehicle is driving in a parking lot, onboard data acquisition equipment, such as a surround-view camera, is used to collect real-time environmental images of the vehicle's location. Image preprocessing algorithms (such as grayscale conversion, noise reduction, and edge detection) are used to extract environmental features from the images, such as parking space line outlines, pillar surface textures, and sign patterns. Alternatively, LiDAR can be used to scan the surrounding environment, collecting point cloud data of the environment around the vehicle in the parking lot, and environmental features, such as pillars, walls, and lane edges, are extracted based on the point cloud data. The collected environmental features are compared with the parking lot scene map to identify features that match the environmental features on the scene map and determine the location of the scene features. Finally, based on the location of the scene features and the relative positional relationship between the vehicle and the collected environmental features, the vehicle's position on the scene map is calculated. Then, based on the target parking space and the vehicle's position on the scene map, the relative positional relationship between the two is determined. The memory parking function performs memory parking operations based on the scene map, the vehicle's location, and the target parking space's location, controlling the vehicle to drive to the target parking space, adjusting the vehicle's posture, and parking in the target parking space.

[0036] In an optional embodiment, comparing the environmental features of the vehicle's location with the scene map of the parking lot includes: after obtaining the environmental features of the vehicle's location through image acquisition and image processing, retrieving the corresponding scene map feature data from the database corresponding to the scene map, and comparing them using a feature point matching algorithm (such as the SIFT algorithm) and / or a contour similarity calculation method.

[0037] This embodiment achieves positioning by comparing the environmental features collected by the vehicle itself with the scene map, without relying on GPS signals or other positioning devices. It is applicable to various indoor and outdoor parking scenarios and improves positioning efficiency.

[0038] In addition, based on the pre-built correspondence between parking space codes and scene map coordinates, the location corresponding to the target parking space code can be quickly located on the scene map, providing a reliable positioning basis for vehicle memory parking and improving the user parking experience.

[0039] In an optional embodiment of the present invention, the memory parking function is used to control the vehicle to park in the target parking space based on the scene map and the relative position relationship located on the scene map, including: searching for target historical driving data that matches the relative position relationship from the historical driving data corresponding to the memory parking function; and controlling the vehicle to park in the target parking space based on the memory parking function, the scene map and the target historical driving data.

[0040] Specifically, the historical driving data corresponding to the memory parking function may include historical driving data for multiple paths. For example, historical driving data from the first-floor entrance A of the parking lot to parking spaces F1 (floor)-A (area)-063 (parking space number), F1-A-064 and F1-A-065; historical driving data from the first-floor entrance B to parking spaces F1-A-063, F1-A-064 and F1-A-066; and historical driving data from the third-floor entrance C to parking spaces F3-A-053, F3-A-054 and F3-A-055. Based on the relative position between the vehicle and the target parking space, for example, if the vehicle is located at entrance C on the third floor and the target parking space is F3-A-055, the historical driving data from entrance C to parking space F3-A-055 is retrieved. The vehicle's memory parking function, based on this historical data, determines the driving path from entrance C to parking space F3-A-055 and the vehicle control parameters along that path. The memory parking function then executes the parking operation based on the corresponding driving path and control parameters. During the parking operation, the driving path and control parameters are adjusted according to the parking lot's scene map to handle temporary changes in the parking lot environment, further improving the feasibility of memory parking. Figure 3 The diagram shows a vehicle performing memory parking from entrance C on the third floor of the parking lot to parking space F3-A-055. C represents the location of the entrance on the third floor of the parking lot, which is the starting point for memory parking. F3-A-055 represents the target parking space. L2 represents the memory parking path from entrance C on the third floor to parking space F3-A-055. V represents the vehicle performing memory parking.

[0041] In an optional embodiment of the present invention, finding target historical driving data that matches the relative position relationship includes: finding the target driving path from the vehicle's location to the target parking space from the historical driving data and displaying the target driving path on the scene map; finding the historical control parameters of the vehicle during its journey along the target driving path from the historical driving data.

[0042] Specifically, target historical driving data that matches the vehicle's location with the target parking space is found from historical driving data. For example, target historical driving data from entrance C on the third floor of the parking lot to parking space F3-A-055 includes the driving path from entrance C on the third floor to parking space F3-A-055 and the control parameters for the vehicle on that path. The driving path is then displayed on the scene map so that the memory parking function can perform memory parking operations based on the driving path and control parameters. This reduces the amount of real-time calculation, improves the vehicle's parking response speed, and increases parking efficiency.

[0043] In real-world parking scenarios, it's possible that the parking lot the vehicle intends to park in is one it has never entered before, or one it has entered but did not use the memory parking function in that parking lot. Therefore, the historical data recorded by the vehicle's memory parking function does not include memory parking data corresponding to that parking lot.

[0044] To overcome the limitations of existing technologies on parking application scenarios—namely, the memory parking function can only be applied to parking lots with historical parking records—in an optional embodiment of the present invention, the method further includes: obtaining historical driving data of the target vehicle using the memory parking function in the parking lot from the server before searching for target historical driving data that matches the relative position relationship; the target vehicle includes one or more features consistent with the vehicle.

[0045] Specifically, before performing the memory parking operation, the system queries the database corresponding to the memory parking function to see if memory parking data for that parking lot is stored. It also queries whether memory parking data for the route from the vehicle's current location to the target parking space is stored. If no memory parking data exists for that parking lot, or if no memory parking data exists for the route from the vehicle's current location (e.g., from entrance C on the third floor of the parking lot) to the target parking space (e.g., F3-A-055), then the system retrieves the corresponding memory parking data from the server. The sources of the server-side memory parking data can include, but are not limited to, the following: data produced by a specialized data producer through actual memory parking operations and uploaded to the server; data uploaded to the server after multiple other vehicles perform memory parking operations in that parking lot, etc.

[0046] Furthermore, in order to ensure that the acquired historical driving data is highly compatible with the vehicle, the server acquires historical driving data of vehicles with the same characteristics as the vehicle. The target vehicle may include one or more characteristics such as vehicle model, vehicle size, and vehicle type (e.g., small sedan, mid-size SUV, commercial vehicle, etc.).

[0047] This embodiment breaks the limitations of memory parking functionality in parking scenarios by retrieving memory parking data from the server, further expanding the applicable scenarios of memory parking, reducing the parking burden on users, and improving the user parking experience. This embodiment further improves the smoothness and success rate of memory parking operations by acquiring highly adaptable historical driving data.

[0048] Since scene maps provide path guidance for memory parking, avoiding the need for the vehicle to calculate and adjust control parameters in real time based on collected environmental features, a prerequisite for performing memory parking is the availability of a pre-built scene map. In reality, a vehicle may have never entered the parking lot before, or may have entered the parking lot but not used the memory parking function; therefore, the vehicle does not have a scene map built by itself.

[0049] To overcome the limitation that the vehicle cannot use its memory parking function because it does not have its own built scene map, in an optional embodiment of the present invention, before mapping the target parking space to the scene map corresponding to the parking lot, the method further includes: obtaining the scene map corresponding to the parking lot from the server; or, constructing the scene map of the parking lot based on the vehicle's memory parking function.

[0050] Specifically, if the vehicle itself does not have a scene map corresponding to the parking lot, it can obtain the scene map from the server. The server-side scene map can come from: data collection by specialized scene map manufacturers who construct the parking lot scene map based on the collected data and provide the constructed scene map to the server; or other vehicles using the memory parking function in that parking lot can generate a scene map and upload it to the server. It is understood that the sources of parking lot scene maps are not limited to the above two situations. The parking lot scene map can be a 3D model, see reference... Figure 3 .

[0051] This embodiment breaks the limitations of parking scene on the use of memory parking function by obtaining the scene map corresponding to the parking lot from the server, further expands the applicable scene range of memory parking function, further reduces the parking burden of users, and improves the user parking experience.

[0052] In an optional embodiment of the present invention, the interaction result includes: the real-time parking status of each parking space in the parking lot; determining the target parking space in the parking lot that is in an vacant state based on the interaction result includes: finding the target parking space that is in an vacant state and matches the parking space information stored in the memory of the vehicle based on the real-time parking status of each parking space in the parking lot.

[0053] Specifically, upon detecting a user's intention to park, the system sends interactive information to the server of the parking lot where the user intends to park to obtain the real-time parking space status of that parking lot, that is, to obtain information on available parking spaces from the server. The server receives the interactive information sent by the vehicle and returns information on available parking spaces to the vehicle, such as parking space B1-A-063 already assigned to you, or currently available parking spaces B1-A-063, B1-A-064, and B1-A-065. The vehicle determines a target parking space that matches the memory parking information based on the available parking space information returned by the server. For example, if the server directly assigns a parking space to the vehicle, the assigned space is directly designated as the target parking space regardless of whether it matches the memory parking information. Alternatively, if the server returns multiple available parking spaces, the vehicle matches these spaces with the memory parking information and uses the matched space as the target parking space. For instance, if the server returns available parking spaces B1-A-063, B1-A-064, and B1-A-065, and the memory parking information is B1-A-065, then B1-A-065 is designated as the target parking space. If the memory parking information does not include available parking spaces provided by the server, the vehicle can arbitrarily select one of the available spaces as the target parking space and use historical driving data obtained from the server to perform the memory parking operation, parking the vehicle in that target space.

[0054] This embodiment performs memory parking by finding parking spaces that match the memory parking information, maximizing the support for vehicles to perform memory parking operations, improving the utilization rate of the memory parking function, reducing the parking burden on vehicle users, and improving the user experience.

[0055] In real-world parking scenarios, some users may wish to specify a parking space and then use the memory parking function to park their vehicle in that space. In an optional embodiment of this invention, determining the vacant target parking space based on the interaction result further includes: combining and rendering the real-time parking space status with a scene map of the parking lot to obtain a real-time map of the parking lot; and displaying the real-time map on the vehicle's in-vehicle screen to show the real-time status of the parking space.

[0056] In this embodiment, the parking lot scene map includes a scene map built by the vehicle itself and a scene map obtained from the server. To address the issue that the scene map built by the vehicle itself cannot reflect the parking space status, the real-time parking space status fed back from the server can be combined with the scene map and rendered to obtain a real-time map that reflects the real-time status of the parking spaces. This real-time map is then displayed on the in-vehicle screen, such as the central control screen, to show the real-time status of the parking spaces.

[0057] The scene map obtained from the server falls into two categories: one where the scene map reflects parking space availability, and another where it does not. For scene maps that do not reflect parking space availability, real-time parking space availability obtained from the server can be combined with the map and rendered to obtain a real-time map. This real-time map is then displayed on the in-vehicle screen, allowing users to select a target parking space based on the available spaces shown on the real-time map. For scene maps that reflect parking space availability, but where the availability may not be the latest or real-time, real-time parking space availability can be obtained from the server. This real-time map is then updated based on the obtained real-time availability and displayed on the in-vehicle screen, allowing users to select a target parking space from the available spaces displayed on the real-time map.

[0058] In other embodiments of the present invention, the parking lot scene map obtained from the server may include real-time parking space status, and the vehicle can directly display the scene map on the in-vehicle screen so that the user can intuitively see the available parking spaces and select the target parking space.

[0059] Users can specify a parking space as their target parking space from the available parking spaces displayed on the screen. The user can specify the target parking space by means of voice commands, such as parking the car in parking space F3-A-055, and / or by clicking, such as clicking on the parking space with parking space ID F3-A-055 on the real-time map displayed on the screen.

[0060] This embodiment renders the real-time parking space status into a real-time map and displays the map on the screen for users to specify their target parking space. This allows users to select a parking space according to their personal preferences and use memory parking to park their vehicle in the designated space. This not only allows users to select a parking space according to their personal preferences but also avoids the hassle of manual parking.

[0061] In an optional embodiment of the present invention, the parking control method further includes: sending a notification instructing the vehicle to complete parking in the target parking space to the server, so that the server updates the parking space status in the parking lot in the database according to the notification.

[0062] After completing the parking operation, the vehicle sends a notification to the server that the target parking space has been occupied. Based on the target parking space indicated in the parking completion notification, the server updates the parking space status in the database to "occupied" to ensure the timeliness and effectiveness of the parking space status information provided by the server.

[0063] The parking control method of the present invention will be illustrated by way of a specific embodiment below.

[0064] like Figure 4 As shown, the parking control method of the present invention mainly includes steps S401-S407:

[0065] Step S401: In response to recognizing the user's intention to park, locate the parking lot for the vehicle, and interact with the server corresponding to the parking lot to obtain the scene map corresponding to the parking lot, including the real-time parking space status.

[0066] Step S402: The acquired scene map, including the real-time parking space status, is displayed on the vehicle screen so that the user can identify the target parking space from the vacant parking spaces displayed on the vehicle screen.

[0067] Step S403: Map the target parking space selected by the user to the scene map corresponding to the parking lot, and locate the relative position between the vehicle and the target parking space on the scene map.

[0068] Step S404: Activate the vehicle's memory parking function and obtain historical driving data of the target vehicle using the memory parking function in the parking lot from the server; the target vehicle includes one or more features consistent with the vehicle.

[0069] Step S405: Find the target driving route from the vehicle's location to the target parking space from the historical driving data, and display the target driving route on the scene map. Step S406: Find the historical control parameters of the vehicle during its journey along the target driving path from the historical driving data.

[0070] Step S407: Based on the memory parking function, scene map, target driving path, and historical control parameters of the vehicle during its journey along the target driving path, control the vehicle to park in the target parking space.

[0071] The parking control method of this invention determines the target parking space that is in an vacant state by interacting with the parking lot server. That is, the target parking space is no longer limited to the parking space remembered by the vehicle. Furthermore, by mapping the target parking space to the scene map corresponding to the parking lot, the vehicle can be parked in the target parking space based on the vehicle's memory parking function and the scene map. This expands the application scenarios of memory parking, improves the utilization rate of memory parking function, reduces the parking burden of users, improves the parking experience of users, and improves the overall cost performance of the vehicle.

[0072] Figure 5 This is a schematic diagram of the main modules of a parking control device 500 according to an embodiment of the present invention.

[0073] like Figure 5 As shown, the parking control device 500 of this embodiment includes: an interaction module 501, a mapping module 502, and a parking module 503, wherein, The interaction module 501, in response to recognizing the user's intention to park, locates the parking lot for the vehicle, interacts with the server corresponding to the parking lot, and determines the target parking space that is vacant in the parking lot based on the interaction result. The mapping module 502 is used to map the target parking space to the scene map corresponding to the parking lot, and to locate the relative positional relationship between the vehicle and the target parking space on the scene map; The parking module 503 is used to activate the vehicle's memory parking function. Based on the scene map and the relative position relationship located on the scene map, the memory parking function controls the vehicle to park in the target parking space.

[0074] In an optional embodiment of the present invention, the mapping module 502 is further configured to determine the parking space ID corresponding to the target parking space in the parking lot; and to determine the target parking space code corresponding to the parking space ID on the scene map based on the correspondence between the parking space ID obtained from the server and the parking space code on the scene map.

[0075] In an optional embodiment of the present invention, the mapping module 502 is further configured to compare the environmental features of the vehicle's location with the features included in the scene map, and locate the vehicle's position on the scene map based on the comparison results; and locate the position corresponding to the target parking space code on the scene map based on the pre-built correspondence between parking space codes and scene map coordinates.

[0076] In an optional embodiment of the present invention, the parking module 503 is further configured to search for target historical driving data that matches the relative position relationship from the historical driving data corresponding to the memory parking function; and control the vehicle to park in the target parking space based on the memory parking function, the scene map and the target historical driving data.

[0077] In an optional embodiment of the present invention, the parking module 503 is further configured to find the target driving path from the vehicle's location to the target parking space from historical driving data and display the target driving path on the scene map; and to find the historical control parameters of the vehicle during the driving process along the target driving path from historical driving data.

[0078] In an optional embodiment of the present invention, the interaction module 501 is further configured to obtain the scene map corresponding to the parking lot from the server before mapping the target parking space to the scene map corresponding to the parking lot.

[0079] In an optional embodiment of the present invention, a scene map of a parking lot is constructed based on the vehicle's memory parking function.

[0080] In an optional embodiment of the present invention, the parking module 503 is further configured to obtain from the server historical driving data of the target vehicle using the memory parking function in the parking lot before searching for target historical driving data that matches the relative position relationship; the target vehicle includes one or more features consistent with the vehicle.

[0081] In an optional embodiment of the present invention, the parking module 503 is further configured to send a notification instructing the vehicle to complete parking in the target parking space to the server, so that the server updates the parking space status in the parking lot in the database according to the notification.

[0082] In an optional embodiment of the present invention, the interaction result includes: the real-time parking status of each parking space in the parking lot; the interaction module is further used to find a target parking space that is in an vacant state and matches the parking space information stored in the memory of the vehicle, based on the real-time parking status of each parking space in the parking lot.

[0083] In an optional embodiment of the present invention, the interaction module 501 is further configured to combine and render the real-time parking space status with the scene map of the parking lot to obtain a real-time map of the parking lot; display the real-time map on the vehicle's in-vehicle screen to show the real-time status of the parking spaces; receive the parking space selection command input by the user, and determine the parking space indicated by the parking space selection command as the target parking space.

[0084] The parking control device of this invention determines the target parking space that is in an vacant state by interacting with the parking lot server. That is, the target parking space is no longer limited to the parking space remembered by the vehicle. Furthermore, by mapping the target parking space to the scene map corresponding to the parking lot, the vehicle can be parked in the target parking space based on the vehicle's memory parking function and the scene map. This expands the application scenarios of memory parking, improves the utilization rate of memory parking function, reduces the parking burden of users, improves the parking experience of users, and improves the overall cost performance of the vehicle.

[0085] Figure 6A parking control system 600 is shown, including: the parking control device 500 of the above embodiment and a server 601 corresponding to each parking lot. The parking control device 500, in response to recognizing that a user has a parking intention, locates the parking lot for the vehicle, interacts with the server 601 corresponding to the parking lot, and determines the target parking space that is vacant in the parking lot based on the interaction result; maps the target parking space to the scene map corresponding to the parking lot, and locates the relative position relationship between the vehicle and the target parking space on the scene map; activates the vehicle's memory parking function, and uses the memory parking function to control the vehicle to park in the target parking space based on the scene map and the relative position relationship located on the scene map.

[0086] In an optional embodiment of the present invention, server 601 is used to receive request information from a vehicle regarding the real-time parking space status of the parking lot, and to provide feedback on the real-time parking space status of the parking lot to the vehicle in response to the request information.

[0087] Specifically, upon detecting a user's intention to park, the system sends interactive information to the server of the parking lot where the user intends to park to obtain the real-time parking space status of that parking lot, that is, to obtain information on available parking spaces from the server. The server receives the interactive information sent by the vehicle and returns information on available parking spaces to the vehicle, such as parking space B1-A-063 already assigned to you, or currently available parking spaces B1-A-063, B1-A-064, and B1-A-065.

[0088] In an optional embodiment of the present invention, server 601 is used to determine the parking space ID and real-time parking space status of each parking space in the parking lot; determine the parking space code corresponding to each parking space ID on the scene map according to the correspondence between the parking space ID of the parking lot and the parking space code on the scene map; and update the parking space status of the corresponding parking space code on the scene map according to the real-time parking space status corresponding to each parking space ID.

[0089] For example, after a vehicle parks in parking space F3-A-055, it sends a parking completion notification to the server indicating F3-A-055. The server then updates the parking space status of F3-A-055 to "occupied" based on the parking completion notification indicating F3-A-055.

[0090] The parking control system of this invention determines the target parking space that is in an vacant state by interacting with the parking lot server. That is, the target parking space is no longer limited to the parking space remembered by the vehicle. Furthermore, by mapping the target parking space to the scene map corresponding to the parking lot, the vehicle can be parked in the target parking space based on the vehicle's memory parking function and the scene map. This expands the application scenarios of memory parking, improves the utilization rate of memory parking function, reduces the parking burden of users, improves the parking experience of users, and improves the overall cost performance of the vehicle.

[0091] Figure 7 A vehicle 700 is shown, including: the parking control device 500 of the above embodiment, which includes: an interaction module 501, a mapping module 502, and a parking module 503. The interaction module 501, in response to recognizing a user's parking intention, locates a parking lot for the vehicle, interacts with the server corresponding to the parking lot, and determines the target parking space that is vacant in the parking lot based on the interaction result. The mapping module 502 is used to map the target parking space to the scene map corresponding to the parking lot and locate the relative positional relationship between the vehicle and the target parking space on the scene map. The parking module 503 is used to activate the vehicle's memory parking function and use the memory parking function to control the vehicle to park in the target parking space based on the scene map and the relative positional relationship located on the scene map.

[0092] In this embodiment of the invention, the vehicle interacts with the parking lot server to determine the target parking space that is in an vacant state. That is, the target parking space is no longer limited to the parking space remembered by the vehicle. Furthermore, by mapping the target parking space to the scene map corresponding to the parking lot, the vehicle can be parked in the target parking space based on the vehicle's memory parking function and the scene map. This expands the application scenarios of memory parking, improves the utilization rate of memory parking function, reduces the parking burden of users, improves the parking experience of users, and improves the overall cost performance of the vehicle.

[0093] Figure 8 An exemplary system architecture 800 is shown that can be applied to the parking control method or parking control device of the present invention.

[0094] like Figure 8 As shown, system architecture 800 may include vehicle 801, network 802, and server 803. Network 802 is used as a medium to provide a communication link between vehicle 801 and server 803. Network 802 may include various connection types, such as wired or wireless communication links or fiber optic cables, etc.

[0095] The system identifies whether a user intends to park by detecting the presence of a parking intention in vehicle 801. If this intention is confirmed, the system locates a parking lot for vehicle 801, interacts with the corresponding server 803, and determines an available target parking space within the parking lot based on the interaction results. The target parking space is then mapped onto the corresponding scene map, and the relative position between the vehicle and the target parking space is determined on the scene map. The system then activates vehicle 801's memory parking function, using this function to control vehicle 801 to park in the target parking space based on the scene map and the determined relative position. Server 803 can be a server providing various parking services, and it can be deployed in the parking lot or remotely.

[0096] It should be noted that the parking control method provided in this embodiment of the invention can be executed by vehicle 801, and correspondingly, the parking control system can be set in vehicle 801.

[0097] It should be understood that Figure 8 The number of vehicles, networks, and servers shown is merely illustrative. Depending on implementation needs, there can be any number of vehicles, networks, and servers.

[0098] The following is for reference. Figure 9 It shows a schematic diagram of the structure of a computer system 900 suitable for implementing an electronic device according to embodiments of the present invention. Figure 9 The server shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of the present invention.

[0099] like Figure 9 As shown, the computer system 900 includes a central processing unit (CPU) 901, which can perform various appropriate actions and processes based on programs stored in read-only memory (ROM) 902 or programs loaded from storage section 908 into random access memory (RAM) 903. The RAM 903 also stores various programs and data required for the operation of the computer system 900. The CPU 901, ROM 902, and RAM 903 are interconnected via a bus 904. An input / output (I / O) interface 905 is also connected to the bus 904.

[0100] The following components are connected to I / O interface 905: an input section 906 including a keyboard, mouse, etc.; an output section 907 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 908 including a hard disk, etc.; and a communication section 909 including a network interface card such as a LAN card, modem, etc. The communication section 909 performs communication processing via a network such as the Internet. A drive 910 is also connected to I / O interface 905 as needed. A removable medium 911, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 910 as needed so that computer programs read from it can be installed into storage section 908 as needed.

[0101] In particular, according to the embodiments disclosed in this invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this invention 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 communication section 909, and / or installed from removable medium 911. When the computer program is executed by central processing unit (CPU) 901, it performs the functions defined above in the system of this invention.

[0102] It should be noted that the computer-readable medium shown in this invention can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, 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 device, magnetic storage device, or any suitable combination thereof. In this invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this invention, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0103] 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 the present invention. 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 a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may 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.

[0104] The modules described in the embodiments of the present invention can be implemented in software or hardware. The described modules can also be housed in a processor; for example, a processor can be described as including an interaction module, a mapping module, and a parking module. The names of these modules do not necessarily limit the module itself; for example, the parking module can also be described as "a module that uses a memory parking function to control a vehicle to park in a target parking space based on a scene map and the relative positional relationships located on the scene map."

[0105] In another aspect, the present invention also provides a computer-readable medium, which may be included in the device described in the above embodiments; or it may exist independently and not assembled into the device. The computer-readable medium carries one or more programs that, when executed by the device, cause the device to: in response to recognizing a user's parking intention, locate a parking lot for the vehicle, interact with a server corresponding to the parking lot, and determine a target parking space that is vacant within the parking lot based on the interaction result; map the target parking space to a scene map corresponding to the parking lot, and locate the relative positional relationship between the vehicle and the target parking space on the scene map; activate the vehicle's memory parking function, and use the memory parking function to control the vehicle to park in the target parking space based on the scene map and the relative positional relationship located on the scene map.

[0106] According to the technical solution of the present invention, by interacting with the parking lot server, a target parking space in an vacant state is determined. That is, the target parking space is no longer limited to the parking space remembered by the vehicle. Furthermore, by mapping the target parking space to the scene map corresponding to the parking lot, the vehicle can be parked in the target parking space based on the vehicle's memory parking function and the scene map. This expands the application scenarios of memory parking, improves the utilization rate of memory parking function, reduces the parking burden of users, improves the parking experience of users, and improves the overall cost-effectiveness of the vehicle.

[0107] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can occur depending on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A parking control method, characterized in that, Applied to vehicles, including: In response to the recognition that a user intends to park, the system locates a parking lot for the vehicle, interacts with the server corresponding to the parking lot, and determines the target parking space that is available in the parking lot based on the interaction result. The target parking space is mapped to the scene map corresponding to the parking lot, and the relative positional relationship between the vehicle and the target parking space is located on the scene map; Activate the vehicle's memory parking function, and use the memory parking function to control the vehicle to park in the target parking space based on the scene map and the relative position relationship located on the scene map.

2. The method according to claim 1, characterized in that, The step of mapping the target parking space to the scene map corresponding to the parking lot includes: Determine the parking space ID corresponding to the target parking space within the parking lot; Based on the correspondence between the parking space IDs of the parking lot obtained from the server and the parking space codes on the scene map, the target parking space code corresponding to the parking space ID on the scene map is determined.

3. The method according to claim 2, characterized in that, Locating the relative position between the vehicle and the target parking space on the scene map includes: The environmental features of the vehicle's location are compared with the features included in the scene map, and the vehicle's location is located on the scene map based on the comparison results. Based on the pre-built correspondence between parking space codes and scene map coordinates, the location corresponding to the target parking space code is located on the scene map.

4. The method according to claim 1, characterized in that, The step of using the memory parking function to control the vehicle to park in the target parking space based on the scene map and the relative position relationship located on the scene map includes: From the historical driving data corresponding to the memory parking function, search for target historical driving data that matches the relative position relationship; Based on the memory parking function, the scene map, and the target historical driving data, the vehicle is controlled to park in the target parking space.

5. The method according to claim 4, characterized in that, The process of finding target historical driving data that matches the relative positional relationship includes: The target driving route from the vehicle's location to the target parking space is found from the historical driving data, and the target driving route is displayed on the scene map. The historical control parameters of the vehicle during its journey along the target driving path are retrieved from the historical driving data.

6. The method according to claim 1, characterized in that, Before mapping the target parking space to the scene map corresponding to the parking lot, the method also includes: Obtain the scene map corresponding to the parking lot from the server; or, A scene map of the parking lot is constructed based on the vehicle's memory parking function.

7. The method according to claim 4, characterized in that, Before searching for target historical driving data that matches the relative positional relationship, the process also includes: The server obtains historical driving data of the target vehicle using the memory parking function in the parking lot; the target vehicle includes one or more features that are consistent with the vehicle.

8. The method according to any one of claims 1-7, characterized in that, The method further includes: A notification instructing the vehicle to complete parking at the target parking space is sent to the server, so that the server updates the parking space status in the parking lot in the database according to the notification.

9. The method according to claim 1, characterized in that, The interaction results include: the real-time parking status of each parking space in the parking lot; The step of determining the target parking space that is vacant in the parking lot based on the interaction result includes: Based on the real-time parking status of each parking space in the parking lot, find the target parking space that is vacant and matches the parking space information stored in the vehicle's memory parking.

10. The method according to claim 9, characterized in that, The step of determining the target parking space that is vacant in the parking lot based on the interaction result also includes: The real-time parking space status is combined with the scene map of the parking lot and rendered to obtain the real-time map of the parking lot; The real-time map is displayed on the vehicle's in-vehicle screen to show the real-time status of the parking space; Receive a parking space selection command input by the user, and determine the parking space indicated by the parking space selection command as the target parking space.

11. A parking control device, characterized in that, Applied to vehicles, it includes: an interaction module, a mapping module, and a parking module, among which... The interaction module, in response to recognizing the user's intention to park, locates the parking lot for the vehicle, interacts with the server corresponding to the parking lot, and determines the target parking space that is vacant in the parking lot based on the interaction result. The mapping module is used to map the target parking space to the scene map corresponding to the parking lot, and to locate the relative positional relationship between the vehicle and the target parking space on the scene map; The parking module is used to activate the vehicle's memory parking function, and use the memory parking function to control the vehicle to park in the target parking space based on the scene map and the relative position relationship located on the scene map.

12. A parking control system, characterized in that, include: The parking control device as described in claim 11 and the corresponding server for each parking lot, The parking control device, in response to recognizing a user's intention to park, locates a parking lot for the vehicle, interacts with the server corresponding to the parking lot, and determines the target parking space that is vacant in the parking lot based on the interaction result. The target parking space is mapped to the scene map corresponding to the parking lot, and the relative position relationship between the vehicle and the target parking space is located on the scene map; the vehicle's memory parking function is activated, and the memory parking function is used to control the vehicle to park in the target parking space based on the scene map and the relative position relationship located on the scene map.

13. The system according to claim 12, characterized in that, The server is used to receive the request information sent by the vehicle regarding the real-time parking space status of the parking lot, and to feed back the real-time parking space status of the parking lot to the vehicle in response to the request information.

14. The system according to claim 12, characterized in that, The server is used to determine the parking space ID and real-time parking space status of each parking space in the parking lot; and to determine the corresponding parking space code on the scene map for each parking space ID based on the correspondence between the parking space IDs in the parking lot and the parking space codes on the scene map. Based on the real-time parking space status corresponding to each parking space ID, update the parking space status of the corresponding parking space code on the scene map.

15. A vehicle, characterized in that, include: The parking control device according to claim 11.

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