Parking location display methods, devices, equipment, media, and programs.

Abstract

This disclosure provides a method, apparatus, device, medium, and program product for displaying parking locations. The method involves determining available parking area information corresponding to the endpoint location; determining parking space attribute information corresponding to the parking location based on the available parking area information; and displaying the parking space corresponding to the parking location on the display screen of a display terminal based on the parking space attribute information. This allows users to effectively perceive parking conditions through the display screen, thereby significantly improving the user's driving experience.

Description

Technical Field

[0001] This disclosure relates to intelligent driving and interface interaction technology, and in particular to a method, apparatus, device, medium, and program product for displaying parking positions. Background Technology

[0002] In intelligent driving scenarios, such as when an autonomous vehicle (or self-driving car) is used as a ride-hailing vehicle, after the user selects a destination, the vehicle plans and controls its route according to the user's selected destination, automatically driving to the destination and parking. In related technologies, the user's perception of the parking situation is poor, affecting the user's driving experience. Summary of the Invention

[0003] Embodiments of this disclosure provide a method, apparatus, device, medium, and program product for displaying parking positions, enabling users to effectively perceive parking conditions through a display screen and effectively improving the user's driving experience.

[0004] A first aspect of this disclosure provides a method for displaying parking locations for a display terminal on a vehicle, comprising: determining parking area information corresponding to a destination location; determining parking space attribute information corresponding to the parking location based on the parking area information; and displaying the parking space corresponding to the parking location on a display screen of the display terminal based on the parking space attribute information.

[0005] A second aspect of this disclosure provides a parking location display device for a display terminal on a vehicle, comprising: a first processing module for determining parking area information corresponding to a destination location; a second processing module for determining parking space attribute information corresponding to the parking location based on the parking area information; and a third processing module for displaying the parking space corresponding to the parking location on a display screen of the display terminal based on the parking space attribute information.

[0006] A third aspect of this disclosure is to provide a computer-readable storage medium storing a computer program for executing the parking location display method described in any of the above embodiments of this disclosure.

[0007] A fourth aspect of this disclosure provides an electronic device, the electronic device comprising: a processor; a memory for storing executable instructions of the processor; the processor being configured to read the executable instructions from the memory and execute the instructions to implement the parking location display method described in any of the above embodiments of this disclosure; or, the electronic device comprising: a parking location display device provided in any of the above embodiments.

[0008] A fifth aspect of this disclosure provides a computer program product that, when instructions in the computer program product are executed by a processor, performs the parking location display method provided in any of the above embodiments of this disclosure.

[0009] Based on the parking location display method, apparatus, device, medium, and program product provided in the above embodiments of this disclosure, when a vehicle is preparing to park or is approaching its destination, the parking space (or parking grid) corresponding to the parking location can be displayed in advance on the display terminal screen on the vehicle, enabling the user to effectively perceive the parking location through the display screen and effectively improve the user's driving experience. Attached Figure Description

[0010] Figure 1 This is an exemplary application scenario of the parking location display method provided in the embodiments of this disclosure;

[0011] Figure 2 This is a flowchart illustrating a parking location display method provided in an exemplary embodiment of this disclosure;

[0012] Figure 3 This is an exemplary schematic diagram of the display interface of the display screen provided in an exemplary embodiment of the present disclosure;

[0013] Figure 4 This is a schematic diagram of a display interface provided in another exemplary embodiment of this disclosure;

[0014] Figure 5 This is a flowchart illustrating a parking location display method provided in another exemplary embodiment of this disclosure;

[0015] Figure 6 This is a flowchart illustrating a method for displaying parking positions provided in yet another exemplary embodiment of this disclosure;

[0016] Figure 7 This is a flowchart illustrating a method for displaying parking positions provided in yet another exemplary embodiment of this disclosure;

[0017] Figure 8 This is a flowchart illustrating a method for displaying parking positions provided in yet another exemplary embodiment of this disclosure;

[0018] Figure 9 This is a flowchart illustrating a method for displaying parking positions provided in yet another exemplary embodiment of this disclosure;

[0019] Figure 10 This is a flowchart illustrating a method for displaying parking positions provided in yet another exemplary embodiment of this disclosure;

[0020] Figure 11This is a flowchart illustrating a method for displaying parking positions provided in yet another exemplary embodiment of this disclosure;

[0021] Figure 12 This is a flowchart illustrating a method for displaying parking positions provided in yet another exemplary embodiment of this disclosure;

[0022] Figure 13 This is a schematic diagram of the structure of a parking position display device provided in an exemplary embodiment of the present disclosure;

[0023] Figure 14 This is a structural diagram of an electronic device provided in an embodiment of this disclosure. Detailed Implementation

[0024] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present disclosure.

[0025] Those skilled in the art will understand that the terms "first," "second," etc., in the embodiments of this disclosure are only used to distinguish different steps, devices, or modules, and do not represent any specific technical meaning, nor do they indicate a necessary logical order between them.

[0026] It should also be understood that in the embodiments disclosed herein, "a plurality of" may refer to two or more, and "at least one" may refer to one, two or more.

[0027] It should also be understood that any component, data or structure mentioned in the embodiments of this disclosure can generally be understood as one or more unless expressly defined or given to the contrary in the context.

[0028] Furthermore, the term "and / or" in this disclosure is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this disclosure generally indicates that the preceding and following related objects have an "or" relationship.

[0029] It should also be understood that the description of the various embodiments in this disclosure emphasizes the differences between the various embodiments, and the similarities or similarities can be referred to each other. For the sake of brevity, they will not be described in detail.

[0030] At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn according to actual scale.

[0031] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use.

[0032] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0033] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0034] This disclosure outlines

[0035] In the process of developing this disclosure, the inventors discovered that in intelligent driving scenarios, such as when an intelligent driving vehicle (hereinafter referred to as the vehicle or autonomous vehicle) is used as a ride-hailing vehicle, after the user selects a destination, the vehicle plans and controls the route according to the user's selected destination and automatically drives to the destination and parks. However, the user's perception of the parking situation is poor, affecting the user's driving experience.

[0036] Exemplary Overview

[0037] Figure 1 This is an exemplary application scenario of the parking location display method provided in the embodiments of this disclosure. For example... Figure 1 As shown, when a vehicle (i.e., a self-driving car) 11 is driving on the road, and is preparing to park (or parking) or approaching the destination position 12, the parking position display method provided in this embodiment can be used to display the parking space corresponding to the parking position on the display terminal (or interactive terminal) on the vehicle in advance. Specifically, the parking area information corresponding to the destination position can be determined (as shown in the relevant information of the parking area S in the figure); then, based on the parking area information, the parking space attribute information corresponding to the parking position can be determined; and then, based on the parking space attribute information, the parking space corresponding to the parking position can be displayed on the display terminal, so that the user can effectively perceive the parking position through the display screen, thereby effectively improving the user's driving experience.

[0038] The parking location display method of this disclosure is not limited to intelligent driving ride-hailing scenarios, but can also be applied to any other scenario with corresponding display functions, such as user vehicles with assisted driving functions. The specific application scenario is not limited.

[0039] Exemplary methods

[0040] Figure 2This is a flowchart illustrating a parking location display method provided in an exemplary embodiment of this disclosure. Embodiments of this disclosure can be applied to electronic devices, specifically such as human-machine interfaces (HMIs) in vehicles. Figure 2 As shown, the method provided in the embodiments of this disclosure may include the following steps:

[0041] Step 210: Determine the parking area information corresponding to the destination location.

[0042] The destination location is the intended location of the vehicle's current journey. This destination location can be determined based on user settings or selections. For example, a user of a smart ride-hailing vehicle can set the destination location from their user terminal or the passenger HMI in the vehicle. The vehicle then obtains the user's destination location, performs route planning and control based on it, and proceeds towards the destination. During the journey, parking availability information corresponding to the terminal location can be determined. For instance, when the vehicle is about to reach the destination location, the parking availability information is determined. Parking availability information refers to relevant information about areas near the destination location where parking is possible. This information may include a set of outline points representing the parking area or other information that can represent the parking area; the specific representation method is not limited.

[0043] In some optional embodiments, parking area information can be obtained from the vehicle's intelligent driving algorithm (i.e., the in-vehicle terminal or intelligent driving chip). For example, the algorithm can obtain the actual parking area based on real-time perception by the vehicle's sensors. Alternatively, the algorithm can calculate the expected parking distance zone (PDZ) as the parking area information based on the stop information at the destination location, combined with illegal parking and parking restriction information from a high-precision map, and the vehicle's parking capacity. The specific method of obtaining the parking area information is not limited.

[0044] Step 220: Based on the parking area information, determine the parking grid attribute information corresponding to the parking location.

[0045] Parking location refers to the area where a vehicle can park after reaching its destination. Parking grid attribute information describes the attributes of the parking grid to be displayed. Parking grid attribute information may include information such as shape and color. Parkable area information represents the area where the vehicle can park; therefore, the parking grid attribute information corresponding to the parking location can be determined based on the parkable area information.

[0046] In some optional embodiments, the parking area information can be information in a global coordinate system (such as a map coordinate system, a world coordinate system, etc.) or information in other coordinate systems (such as a vehicle coordinate system). The coordinate systems can be converted to each other, and this disclosure does not limit the scope of the embodiments.

[0047] Step 230: Based on the parking space attribute information, display the parking space corresponding to the parking position on the display screen of the display terminal.

[0048] The display terminal can be any terminal with display function on the vehicle; for example, it can be an HMI terminal. The parking space corresponding to the parking position can be represented as a polygon of a certain shape, the specific shape of which can be determined according to the shape of the parking area.

[0049] In some alternative embodiments, parking spaces may have certain color attributes, such as green, red, blue, etc., so that users can see the parking spaces more intuitively.

[0050] In some alternative embodiments, parking spaces and vehicles can be displayed relative to each other on the display screen. For example, the vehicle can be displayed at a preset position on the display interface (or display screen), and the relative relationship between the parking space and the vehicle on the display interface can be determined based on the relative relationship between the parking area and the vehicle, thereby displaying the vehicle and the parking space on the display interface.

[0051] In some optional embodiments, parking spaces can be displayed on the screen when the parking area enters the display range. The display range corresponds to a certain area around the vehicle.

[0052] In some alternative embodiments, Figure 3 This is an exemplary schematic diagram of the display interface of a display screen provided in an exemplary embodiment of this disclosure. For example... Figure 3 As shown, when a parking space enters the display area, the corresponding parking spot can be displayed in advance on the display interface, allowing users to intuitively understand the relevant information about the parking location. For example... Figure 3 As shown, the display interface can show map information within a corresponding range (such as lane lines and other map elements in the image), other vehicles in the surrounding environment sensed by sensors (such as the multiple vehicles parked on the right side of the image), other objects, and information about the vehicle itself. Based on this displayed content, parking spaces are displayed in the parking area near the destination. The display range can be set according to actual needs. For example, the display range can be determined based on the visible range of the sensors on vehicle 11, and the display range can be less than or equal to the visible range.

[0053] It should be noted that, Figure 3This is merely a simplified schematic of the display interface, using only a two-dimensional (2D) display as an example. For instance, the area surrounding vehicle 11 is mapped to the display area of ​​the interface. Based on the positions of various elements (e.g., lane lines, vehicle, perceived objects, planned paths, parking areas, etc.) in the actual environment and the mapping relationship between the actual environment and the display interface, each element is mapped to its corresponding position on the display interface for display. In practical applications, the display interface can show a high-precision map within a corresponding range, various perceived environmental objects, the planned path L, and other related content. Corresponding display attributes can be set for various objects, such as color, shape, and size, without specific limitations. Furthermore, the surrounding environment can be displayed in three dimensions (3D) on the display interface. For example, 3D models can be created for various objects, combined with 3D map elements from the high-precision map, using a virtual camera at a specified position above and behind vehicle 11 as the viewing angle, to obtain 3D images within the observation range, which are then rendered onto the display interface for display. Figure 4 The diagram shown is a schematic of a display interface provided in another exemplary embodiment of this disclosure. The white circular pattern containing the character "P" represents a parking space marker (or parking mark). Three-dimensional objects such as the vehicle 11 and other surrounding vehicles can be displayed in 3D. The display interface can also display the vehicle 11's speed, remaining mileage, and remaining time. The specific content and dimensions of the display interface are not limited. Optionally, the vehicle 11 can have a fixed position on the display interface, i.e., a preset position where the vehicle 11 is displayed. Elements of the surrounding environment and parking spaces are displayed according to their relative relationship to the vehicle. Other information unrelated to the environment (such as speed, remaining mileage, remaining time, and user-operable interactive entry points) can be displayed at designated locations on the display interface. Taking the PHMI (Passenger Human Machine Interface) in a ride-hailing vehicle as an example, interactive entry points may include trigger entry points for functions such as "Settings" and "Entertainment."

[0054] The parking location display method provided in the embodiments of this disclosure can display the corresponding parking space (or parking grid) in advance through the display terminal screen on the vehicle when the vehicle is about to park or is close to the destination position. This allows the user to effectively and intuitively perceive the parking location through the display screen, thereby effectively improving the user's driving experience.

[0055] Figure 5 This is a flowchart illustrating a method for displaying parking locations provided in another exemplary embodiment of this disclosure.

[0056] In some alternative embodiments, in the above... Figure 2 Based on the illustrated embodiments, as Figure 5As shown, the parking area information corresponding to the endpoint location in step 210 may include:

[0057] Step 2110: Obtain the expected parking area information under the preset map coordinate system from the vehicle's on-board terminal, as the parking area information; the expected parking area information is obtained based on the endpoint location, the parking condition information corresponding to the endpoint location, and the pre-obtained parking capacity information of the vehicle.

[0058] The Expected Parking Zone (PDZ) information refers to information about areas where autonomous vehicles can park. This information may include, for example, a set of outline points representing the parking area, which can be a set of points in a global coordinate system or another coordinate system. Parking condition information corresponding to the destination location includes information on illegal and restricted parking in the area where the destination location is located. This information may include illegal and restricted parking information marked on high-precision maps and information determined through big data experience. The vehicle's parking capability refers to its ability to park automatically, including road level information and other relevant information that the vehicle can achieve automatically. For example, for some internal roads where manual parking is successful, automatic parking may be more difficult.

[0059] In some optional embodiments, the vehicle terminal can calculate the expected parking area information based on the destination location, the parking condition information corresponding to the destination location, the pre-obtained parking capacity information of the vehicle, and the pre-configured algorithm, combined with a high-precision map.

[0060] This embodiment of the disclosure obtains the expected parking area information from the vehicle terminal as the available parking area, avoiding reliance on real-time sensor perception results. Therefore, it is unaffected by the sensor's sensing distance and can obtain available parking area information from a considerable distance from the destination, allowing for advance display of parking spaces. Furthermore, the obtained available parking area is more stable, avoiding abrupt changes in the displayed parking spaces and further enhancing the user's visual experience.

[0061] In some optional embodiments, the on-board terminal can obtain real-time information about the parking area corresponding to the destination location through sensor data collected by sensors. By sensing the parking area in real time, it can be ensured that there are enough parking spaces available for parking.

[0062] Figure 6 This is a flowchart illustrating a method for displaying parking positions provided in yet another exemplary embodiment of this disclosure.

[0063] In some alternative embodiments, based on any of the above embodiments, such as Figure 6 As shown, step 220, which determines the parking grid attribute information corresponding to the parking location based on the parking area information, may include:

[0064] Step 2210: Based on the parking area information, determine the set of parking grid outline points corresponding to the parking location.

[0065] In some optional embodiments, the parking space outline point set can be a outline point set in the global coordinate system or a outline point set in the vehicle coordinate system. For example, the outline point set of the parking area can be used as the parking space outline point set, or the parking area information can be further processed and the coordinate system transformed to obtain the parking space outline point set. For example, the parking area information is represented as a polygon of a certain shape, and the parking space outline point set is obtained by sampling outline points on the polygon outline. Alternatively, the sampled outline points can be transformed to the vehicle coordinate system to obtain the parking space outline point set in the vehicle coordinate system. The vehicle coordinate system and the display interface can have a certain mapping relationship so that the parking spaces can be drawn on the display interface through the mapping of the parking space outline point set.

[0066] In some optional embodiments, the parking grid outline point set can be the outline point set in the pixel coordinate system of the display interface. The specific coordinate system is not limited.

[0067] Step 2220: Determine the color information of the parking space.

[0068] The color information for the parking spaces can be preset.

[0069] It should be noted that steps 2210 and 2220 can be performed in any order.

[0070] Step 2230: Determine parking grid attribute information based on the parking grid outline point set and parking grid color information.

[0071] Among them, after determining the parking space outline point set and color information, the parking space outline point set and color information can be determined as parking space attribute information.

[0072] In embodiments of this disclosure, the outline point set of parking spaces is determined by parking area information, and then the color information of the parking spaces is determined. The outline point set of parking spaces can describe the shape of the parking spaces, and the color information of the parking spaces can describe the display color of the parking spaces, thereby realizing the effective determination of parking space attributes and providing accurate and effective attribute information reference for the display of parking spaces.

[0073] Figure 7 This is a flowchart illustrating a method for displaying parking positions provided in yet another exemplary embodiment of this disclosure.

[0074] In some alternative embodiments, based on any of the above embodiments, such as Figure 7 As shown, step 220, which determines the parking grid attribute information corresponding to the parking location based on the parking area information, may include:

[0075] Step 2201: Based on the parking area information and the vehicle's current location information, determine whether the parking location display conditions are met at the current time.

[0076] The parking location display conditions (or simply display conditions) refer to whether the available parking area is within the specified display range. For example, the display range might be from d1 meters behind the vehicle to d2 meters in front, and from d3 meters to d4 meters to the left and right of the vehicle. d1, d2, d3, and d4 can be set according to display requirements. Based on the available parking area information and the vehicle's current position information, the distance and direction of the available parking area relative to the vehicle can be determined. Then, combined with the display range, it can be determined whether the available parking area meets the parking location display conditions. If the available parking area (partial or complete) is within the display range, the parking location display conditions are met at the current time. If the available parking area is not within the display range, the parking location display conditions are not met at the current time.

[0077] Step 2202: In response to the current condition of meeting the parking location display requirement, determine the parking grid attribute information corresponding to the parking location based on the parking area information.

[0078] Specifically, if the conditions for displaying a parking location are met at the current time, the process involves determining the attribute information of the parking space corresponding to the parking location based on the available parking area information, followed by subsequent steps. For details on displaying the parking space, please refer to the aforementioned embodiment. If the conditions for displaying a parking location are not met at the current time, the process of displaying the parking space can be avoided.

[0079] In the embodiments of this disclosure, the display processing flow of the parking space is triggered only when the display conditions are met, which can avoid unnecessary calculations and reduce resource waste.

[0080] Figure 8 This is a flowchart illustrating a method for displaying parking positions provided in yet another exemplary embodiment of this disclosure.

[0081] In some alternative embodiments, based on any of the above embodiments, such as Figure 8 As shown, step 220, which determines the parking grid attribute information corresponding to the parking location based on the parking area information, may include:

[0082] Step 22a0: Determine the obstacle information within the area corresponding to the parking area information.

[0083] Obstacle information refers to information about other perceived obstacles that may affect the vehicle's driving or parking, such as vehicles, pedestrians, cyclists, and traffic cones. Obstacle information may include the obstacle's location, size, and orientation, but is not specifically limited to these details.

[0084] In some alternative embodiments, obstacle information can be obtained from the algorithm side. For example, the vehicle terminal obtains obstacle information based on sensor data through intelligent driving algorithm models (such as target detection algorithm models, semantic segmentation algorithm models, target tracking algorithm models, etc.), and determines the obstacle information within the parking area based on the positional relationship between the perceived obstacle information and the parking area (i.e., the area corresponding to the parking area information).

[0085] In some optional embodiments, when using the Expected Parking Zone (PDZ) as the parking area, the distance between the vehicle and the parking area may be relatively far when the parking space is initially displayed. The sensors may not yet be able to detect whether there are obstacles within the parking area. In this case, the parking space can be displayed directly and maintained while the vehicle is moving. Understandably, during vehicle movement, the relative position between the parking space and the vehicle needs to be dynamically displayed on the interface based on the relative position of the parking area and the vehicle. As the vehicle continues to move and approaches the parking area, when it reaches near its destination, the parking area enters the sensor's sensing range, and obstacle information within the parking area can be obtained from the algorithm.

[0086] Step 22b0: In response to the obstacle information meeting the preset conditions, the parking area information is redefined based on the extended area of ​​the parking area information.

[0087] The preset condition refers to a parking area being completely occupied by obstacles, leaving insufficient space for the vehicle to park. If the obstacle information meets the preset condition, the parking area information (which can be called the current parking area information or the first parking area information) can be expanded to a new area to redetermine the parking area information (which can be called the new parking area information or the second parking area information), enabling the vehicle to successfully park.

[0088] In some optional embodiments, the redefined parking area information can be obtained from the vehicle-mounted terminal. That is, the vehicle-mounted terminal redetermines the second parking area information from an extended area of ​​the first parking area based on the actual perceived obstacle information. The extended area may refer to other areas surrounding the first parking area.

[0089] Step 22c0: Based on the redefined parking area information, determine the parking grid attribute information.

[0090] Specifically, after redetermining the available parking area information, the parking space attribute information can be determined based on the redetermined available parking area information, and then the parking spaces can be displayed on the screen based on the parking space attribute information. That is, as the available parking area changes, the parking spaces are dynamically displayed to ensure the effectiveness of the parking spaces.

[0091] The embodiments disclosed herein determine the obstacle situation within the parking area and dynamically adjust the parking spaces to effectively ensure the effectiveness of the parking spaces, enabling the vehicle to successfully park within them. Furthermore, the user can intuitively control the parking process, further enhancing the user's driving experience.

[0092] Figure 9 This is a flowchart illustrating a method for displaying parking positions provided in yet another exemplary embodiment of this disclosure.

[0093] In some alternative embodiments, based on any of the above embodiments, the parking space attribute information includes a set of parking space outline points and the color information of the parking space.

[0094] Step 230, which involves displaying the parking space corresponding to the parking location on the display terminal's screen based on the parking space attribute information, may include:

[0095] Step 2310: Based on the parking space outline point set, determine the target display area of ​​the parking space in the display screen.

[0096] The target display area of ​​the parking space in the display screen is the pixel area of ​​the parking space in the pixel coordinate system of the display screen.

[0097] In some optional embodiments, the target display area can be determined based on the mapping relationship between the coordinate system of the parking grid outline point set and the pixel coordinate system. Specific mapping relationships may include a fixed mapping relationship between the vehicle coordinate system and the display interface pixel coordinate system (enabling 2D rendering), or the mapping relationship may include a transformation relationship between the vehicle coordinate system and the camera coordinate system of the virtual camera above and behind the vehicle, and a transformation relationship between the image coordinate system of the virtual camera and the pixel coordinate system of the display interface (for enabling 3D rendering).

[0098] Step 2320: Determine the target color of the target display area based on the color information of the parking grid.

[0099] The color information of the parking space is the target color of the target display area, so that the target display area is displayed as the parking space of the corresponding color.

[0100] Step 2330: Display parking spaces on the display screen based on the target display area and target color.

[0101] The parking spaces can be displayed by controlling the color of the target display area on the screen to the target color. Optionally, the outline color and the interior color of the parking space can be the same or different colors, without any specific limitation.

[0102] In the embodiments of this disclosure, by mapping the parking space outline point set to the target display area of ​​the display interface and determining the color information of the parking space as the target color of the target display area, the parking space with the target color is displayed relative to the vehicle on the display interface. This allows the user to more intuitively and clearly perceive the relative situation between the vehicle and the parking position, further enhancing the user's driving experience.

[0103] Figure 10 This is a flowchart illustrating a method for displaying parking positions provided in yet another exemplary embodiment of this disclosure.

[0104] In some optional embodiments, the method of this disclosure may further include:

[0105] Step 310: Obtain high-precision map information and perception result information within a preset range around the vehicle.

[0106] In some optional embodiments, high-precision map information (which can be referred to as local map information) within a preset range around the vehicle can be extracted from the high-precision map based on the vehicle's current pose and display range. The high-precision map information may include various map element information from the high-precision map, such as lane lines, lanes, curbs, and buildings. Perception result information can be obtained from the onboard terminal and may include the status information of other vehicles, pedestrians, traffic lights, cones, and other objects around the vehicle. Specifically, the status information may include the position, direction, size, and other information of each object.

[0107] Step 320: Determine the target display position of the vehicle in the display screen.

[0108] The target display position of the vehicle on the display screen can be a fixed position, that is, the vehicle can be displayed at a preset position on the display screen, see [link to relevant documentation]. Figure 3 or Figure 4 .

[0109] It should be noted that steps 310 and 320 are not in any particular order, nor are they in any particular order with steps 2310-2320.

[0110] Step 2330, which displays parking spaces on the display screen based on the target display area and target color, may include:

[0111] Step 23310: Based on the high-precision map information and the perception result information, display the high-precision map corresponding to the high-precision map information and the perception object corresponding to the perception result information on the display screen, as well as display the vehicle at the target display location and display the parking space of the target color in the target display area.

[0112] Among them, the system can render the overall display screen based on high-precision map information, perception result information, the target display position of the vehicle, the target display area of ​​the parking space, and the target color, and then display the overall display screen.

[0113] In some optional embodiments, during the rendering process, high-precision maps, perceived objects, vehicles, and parking spaces can be overlaid according to specified layer levels to generate a display screen. The specific rendering principle will not be elaborated here.

[0114] In some optional embodiments, the planned path from the vehicle's current location to the parking space can also be displayed on the screen.

[0115] The embodiments of this disclosure, by displaying a high-precision map, perceived objects, the vehicle, and parking spaces on the display screen, enable users to more intuitively and clearly control the environment around the vehicle and the relative relationship between the vehicle and the parking space, further enhancing the user's driving experience.

[0116] Figure 11 This is a flowchart illustrating a method for displaying parking positions provided in yet another exemplary embodiment of this disclosure.

[0117] In some optional embodiments, based on any of the above embodiments, the parking area information includes the expected parking area information under a preset map coordinate system and the center point corresponding to the expected parking area information.

[0118] The preset map coordinate system can refer to a high-precision map coordinate system or other map coordinate systems. The center point corresponding to the expected parking area information can refer to the centroid of the expected parking area. In practical applications, the shape of the expected parking area may be irregular and polygonal; the centroid of the irregular polygon can be calculated as the center point of the expected parking area.

[0119] In some optional embodiments, the center point corresponding to the expected parking area information can be calculated by the vehicle terminal. That is, after determining the expected parking area, the vehicle terminal calculates the centroid of the expected parking area to obtain the center point of the expected parking area, and sends the expected parking area information and the corresponding center point as parking area information to the display terminal. The display terminal obtains the parking area information and thus obtains the expected parking area information and the corresponding center point.

[0120] like Figure 11 As shown, step 230, which involves displaying the parking space corresponding to the parking location on the display terminal's screen based on the parking space attribute information, may include:

[0121] Step 2301: Based on the center point corresponding to the expected parking area information, determine the target position of the preset parking mark in the parking space.

[0122] The preset parking markers can be pre-set markers used to indicate parking locations. The specific content of the preset parking markers can be set according to actual needs. For example, the preset parking markers can be graphics of a specified shape containing the character "P," such as... Figure 4 The symbol is a circular graphic containing the character "P". In practical applications, it is not limited to the character "P" and circular graphics; it can also be other characters or other shapes.

[0123] In some optional embodiments, the preset parking marker can be set as a two-dimensional or three-dimensional model, which is displayed as the corresponding parking marker through screen rendering.

[0124] In some optional embodiments, the target position of the preset parking mark in the parking space can be a pixel position in the pixel coordinate system of the display screen, or a position in the preset map coordinate system. The coordinate systems can be converted to each other. For example, the coordinates of the center point can be used as the target position, or the coordinates of the center point can be mapped to the pixel coordinate system of the display screen to obtain the target position. There is no specific limitation.

[0125] Step 2302: Determine the target direction of the preset parking mark.

[0126] The target direction of the preset parking marker is the positive direction in which the preset parking marker is displayed. This target direction is designed for user viewing. For example, the character "P" should be displayed so that the user can see the character in a positive direction. Figure 4 As shown in the image.

[0127] In some optional embodiments, the target direction of the preset parking mark can be determined based on the lane lines and the vehicle's direction of travel. For example, the direction parallel to the lane lines and close to the vehicle's direction of travel can be used as the target direction.

[0128] Step 2303: Based on the parking space attribute information, display the parking space on the display screen, and display the preset parking mark at the target location of the parking space in the target direction.

[0129] The display of parking spaces and preset parking markers can be achieved through screen rendering; the specific principles will not be elaborated upon here.

[0130] The embodiments of this disclosure, by displaying preset parking marks on parking spaces, can more clearly and intuitively mark parking spaces, enabling users to quickly and conveniently identify parking locations and further improving the user experience.

[0131] Figure 12 This is a flowchart illustrating a method for displaying parking positions provided in yet another exemplary embodiment of this disclosure.

[0132] In some alternative embodiments, based on any of the above embodiments, such as Figure 12 As shown, step 230, which involves displaying the parking space corresponding to the parking location on the display terminal's screen based on the parking space attribute information, may include:

[0133] Step 230a: Determine the planned route information from the vehicle to the destination.

[0134] The planned route information can be obtained from the vehicle-mounted terminal. For example, based on the vehicle's current location, destination location, and combined with map and perception results, the vehicle-mounted terminal uses a planning and control algorithm model to perform route planning, obtaining the planned route information from the vehicle's current location to the destination location. The planned route information can include the driving path from the current location to the destination location, specifically including a set of trajectory points on the driving path. Each trajectory point can include its location, yaw angle, and other relevant information, without being specifically limited.

[0135] Step 230b: Based on the parking space attribute information and the planned path information, determine the cutoff position between the planned path and the parking space.

[0136] The cutoff point is used to cut off the planned path, that is, when the planned path enters a parking space, the entering part and the subsequent part are cut off from the non-entered part.

[0137] In some alternative embodiments, the cutoff position can be determined based on the relative positional relationship between the planned path and the parking space. For example, the planned path and the parking space can be unified to the same coordinate system, and the cutoff position can be obtained based on the intersection of the planned path and the edge of the parking space closest to the vehicle within the same coordinate system.

[0138] Step 230c: Based on the planned path information and the cutoff location, determine the target path information after the cutoff.

[0139] The truncated target path information only includes the portion from the vehicle's current position to the edge of the parking space near the vehicle's edge. The portion entering the parking space and subsequent parts are truncated and will not be displayed further. See [link to documentation]. Figure 3 The planned path L shown is cut off at the intersection with the parking space.

[0140] Step 230d: Based on the parking space attribute information and the target path information, display the target path and parking space corresponding to the target path information on the display screen.

[0141] Among them, parking spaces can be displayed based on parking space attribute information, and target paths can be displayed based on target path information.

[0142] In some optional embodiments, a parking grid image layer can be generated based on parking grid attribute information and a target path layer can be generated based on target path information during the image rendering process. The layers can then be superimposed to obtain the display image, which is then displayed on the screen.

[0143] In the embodiments of this disclosure, when displaying the driving trajectory from the current position of the vehicle to the destination position, since the parking space represents the parking position of the vehicle, that is, the vehicle should park when it reaches the parking space and will not continue to drive, the displayed driving path is truncated to make the displayed driving path more accurate and further enhance the user's sense of control over the parking process.

[0144] In some optional embodiments, the above embodiments or some embodiments may be implemented in combination. For example, step 230, which involves displaying the parking space corresponding to the parking location on the display screen of the display terminal based on the parking space attribute information, may include:

[0145] Based on high-precision map information and perception result information, the display screen shows the high-precision map corresponding to the high-precision map information and the perceived object corresponding to the perception result information. The vehicle is displayed at the target display location, parking spaces of the target color are displayed in the target display area, preset parking marks are displayed at the target location of the parking space according to the target direction, and the target path is displayed between the vehicle and the parking space. The specific display principles of each part can be found in the aforementioned embodiments and will not be repeated here.

[0146] In some optional embodiments, as the vehicle moves to the parking position, parking spaces are continuously and dynamically displayed based on the vehicle's real-time location and the relative position of the available parking area to the vehicle, so that the user can perceive the vehicle's parking status in real time.

[0147] In some alternative embodiments, once a vehicle has parked in a parking space and completed parking, the parking space can be hidden, meaning it will no longer be displayed.

[0148] The collection, storage, use, processing, transmission, provision, and disclosure of user personal information in this technical solution comply with relevant laws and regulations and do not violate public order and good morals. Furthermore, the collection and use of user personal information in this technical solution are conducted with the user's knowledge and authorization, and do not involve the illegal collection or use of user personal information.

[0149] The embodiments described above can be implemented individually or in any combination without conflict. The specific implementation can be set according to actual needs, and this disclosure does not limit them.

[0150] The method for displaying any parking location provided in this disclosure can be executed by any suitable electronic device with data processing capabilities, including but not limited to: terminal devices and servers. Alternatively, any parking location display method provided in this disclosure can be executed by a processor, such as by a processor executing any parking location display method mentioned in this disclosure by calling corresponding instructions stored in memory. Further details will not be elaborated below.

[0151] Exemplary device

[0152] Figure 13 This is a schematic diagram of a parking position display device provided in an exemplary embodiment of this disclosure. The device of this embodiment can be used to implement the corresponding method embodiments of this disclosure, and the device of this embodiment can be applied to a display terminal in a vehicle, such as... Figure 13 The apparatus shown may include: a first processing module 51, a second processing module 52 and a third processing module 53.

[0153] The first processing module 51 is used to determine the parking area information corresponding to the endpoint location.

[0154] The second processing module 52 is used to determine the parking grid attribute information corresponding to the parking location based on the parking area information.

[0155] The third processing module 53 is used to display the parking space corresponding to the parking position on the display screen of the display terminal based on the parking space attribute information.

[0156] In some alternative embodiments, in the above... Figure 13 Based on the embodiment shown, the first processing module 51 can be specifically used to: obtain the expected parking area information under the preset map coordinate system from the vehicle's on-board terminal, as the parking area information; the expected parking area information is obtained based on the endpoint location, the parking condition information corresponding to the endpoint location, and the parking capacity information of the vehicle obtained in advance.

[0157] In some alternative embodiments, the vehicle terminal can obtain parking area information corresponding to the destination location by sensing sensor data collected by sensors.

[0158] In some optional embodiments, based on any of the above embodiments, the second processing module 52 may specifically be used for:

[0159] Based on the available parking area information, determine the set of parking grid outline points corresponding to the parking location. Determine the color information of the parking grid. Based on the parking grid outline point set and the parking grid color information, determine the parking grid attribute information.

[0160] In some optional embodiments, based on any of the above embodiments, the second processing module 52 may specifically be used for:

[0161] Based on the available parking area information and the vehicle's current location information, determine whether the parking location display conditions are met at the current moment. If the parking location display conditions are met at the current moment, determine the parking grid attribute information corresponding to the parking location based on the available parking area information.

[0162] In some optional embodiments, based on any of the above embodiments, the second processing module 52 may specifically be used for:

[0163] Determine obstacle information within the area corresponding to the available parking area information. In response to the obstacle information meeting preset conditions, redetermine the available parking area information based on an expanded area. Based on the redetermined available parking area information, determine the parking space attribute information.

[0164] In some alternative embodiments, based on any of the above embodiments, the parking space attribute information includes a set of parking space outline points and the color information of the parking space.

[0165] The third processing module 53 can be specifically used for:

[0166] Based on the parking space outline point set, the target display area of ​​the parking space on the display screen is determined. Based on the color information of the parking space, the target color of the target display area is determined. Based on the target display area and target color, the parking space is displayed on the display screen.

[0167] In some optional embodiments, the first processing module 51 can also be used to: acquire high-precision map information and perception result information within a preset range around the vehicle.

[0168] The third processing module 53 can also be used to determine the target display position of the vehicle in the display screen.

[0169] The third processing module 53 can be specifically used to: display the high-precision map corresponding to the high-precision map information and the perception object corresponding to the perception result information on the display screen based on the high-precision map information and perception result information, and display the vehicle at the target display location and the parking grid of the target color in the target display area.

[0170] In some optional embodiments, based on any of the above embodiments, the parking area information includes the expected parking area information under a preset map coordinate system and the center point corresponding to the expected parking area information.

[0171] The third processing module 53 can be specifically used for:

[0172] Based on the center point corresponding to the expected parking area information, determine the target position of the preset parking marker within the parking space. Determine the target direction of the preset parking marker. Based on the parking space attribute information, display the parking space on the screen, and display the preset parking marker at the target position within the parking space according to the target direction.

[0173] In some optional embodiments, based on any of the above embodiments, the third processing module 53 may specifically be used for:

[0174] Determine the planned route information from the vehicle to the destination. Based on the parking space attribute information and the planned route information, determine the cutoff point between the planned route and the parking space. Based on the planned route information and the cutoff point, determine the cutoff target route information. Based on the parking space attribute information and the target route information, display the target route and parking space corresponding to the target route information on the display screen.

[0175] In some optional embodiments, the above embodiments or some embodiments may be implemented in combination. For example, the third processing module 53 may specifically be used for:

[0176] Based on high-precision map information and perception result information, the display screen shows the high-precision map corresponding to the high-precision map information and the perceived object corresponding to the perception result information. The vehicle is displayed at the target display location, parking spaces of the target color are displayed in the target display area, preset parking marks are displayed at the target location of the parking space according to the target direction, and the target path is displayed between the vehicle and the parking space. The specific display principles of each part can be found in the aforementioned embodiments and will not be repeated here.

[0177] In some optional embodiments, as the vehicle travels to the parking position, the device of this disclosure embodiment can continuously and dynamically display parking spaces based on the real-time position of the vehicle and the relative positional relationship between the available parking area and the vehicle, so that the user can perceive the parking status of the vehicle in real time.

[0178] In some optional embodiments, the third processing module 53 can also be used to hide the parking space after the vehicle has parked in the parking space and completed parking, that is, to no longer display the parking space.

[0179] The embodiments described above can be implemented individually or in any combination without conflict. The specific implementation can be set according to actual needs, and this disclosure does not limit them.

[0180] The beneficial technical effects corresponding to the exemplary embodiments of this device can be found in the corresponding beneficial technical effects of the exemplary method section above, and will not be repeated here.

[0181] Exemplary electronic devices

[0182] Figure 14 This is a structural diagram of an electronic device provided in an embodiment of the present disclosure, including at least one processor 91 and a memory 92.

[0183] The processor 91 may be a central processing unit (CPU) or other form of processing unit with data processing and / or instruction execution capabilities, and may control other components in the electronic device 90 to perform desired functions.

[0184] The memory 92 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory. Non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 91 may execute one or more computer program instructions to implement the methods and / or other desired functions of the various embodiments of this disclosure described above.

[0185] In one example, the electronic device 90 may also include an input device 93 and an output device 94, which are interconnected via a bus system and / or other forms of connection mechanism (not shown).

[0186] The input device 93 may also include, for example, a keyboard, mouse, touchscreen, microphone, various sensors, etc. Sensors may include, for example, image sensors (e.g., cameras, webcams), LiDAR, millimeter-wave radar, ultrasonic radar, positioning sensors, pressure sensors, air quality sensors, temperature sensors, etc. Image sensors, LiDAR, millimeter-wave radar, ultrasonic radar, etc., can be used for environmental perception, i.e., detecting moving and static objects in the surrounding environment. Moving and static objects may include, for example, static objects such as lane lines, curbs, arrows, signs, trees, and buildings, as well as dynamic objects such as surrounding vehicles, pedestrians, and cyclists. Positioning sensors are used to locate the mobile device (e.g., a bicycle, a robot, etc.) where the electronic device is located. Positioning sensors may include, for example, an Inertial Measurement Unit (IMU) and a Global Positioning System (GPS). Pressure sensors can be used to detect seat pressure. Temperature sensors can be used to detect the temperature inside the vehicle cabin. Air quality sensors can be used to detect the air quality inside the vehicle cabin.

[0187] The output device 94 can output various information to the outside, including, for example, a display, a speaker, a communication network and its connected remote output devices, etc.

[0188] Of course, for the sake of simplicity, Figure 14 Only some of the components of the electronic device 90 relevant to this disclosure are shown, omitting components such as buses, input / output interfaces, etc. In addition, the electronic device 90 may include any other suitable components depending on the specific application.

[0189] Exemplary computer program products and computer-readable storage media

[0190] In addition to the methods and apparatus described above, embodiments of this disclosure may also provide a computer program product, including computer program instructions that, when executed by a processor, cause the processor to perform the steps of the methods in the various embodiments of this disclosure described in the "Exemplary Methods" section above.

[0191] Computer program products can be written in any combination of one or more programming languages ​​to perform the operations of embodiments of this disclosure. These programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on a user's computing device, partially on a user's computing device, as a standalone software package, partially on a user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0192] Furthermore, embodiments of this disclosure may also be computer-readable storage media storing computer program instructions thereon, which, when executed by a processor, cause the processor to perform the steps of the methods in the various embodiments of this disclosure described in the "Exemplary Methods" section above.

[0193] Computer-readable storage media may take the form of any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, but is not limited to, systems, apparatuses, or devices that are electrical, magnetic, optical, electromagnetic, infrared, or semiconductor, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0194] The basic principles of this disclosure have been described above with reference to specific embodiments. However, the advantages, benefits, and effects mentioned in this disclosure are merely examples and not limitations, and should not be considered as essential features of each embodiment of this disclosure. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the scope of this disclosure to the necessity of employing the aforementioned specific details for implementation.

[0195] Various modifications and variations can be made to this disclosure without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this disclosure and their equivalents, this disclosure is also intended to include such modifications and variations.

Claims

1. A method for displaying parking positions, used in a display terminal on a vehicle, comprising: Determine the parking area information corresponding to the destination location; Based on the parking area information, determine the parking grid attribute information corresponding to the parking location; Based on the parking space attribute information, the parking space corresponding to the parking position is displayed on the display screen of the display terminal.

2. The method according to claim 1, wherein, The information on the parking area corresponding to the destination location includes: The vehicle's onboard terminal obtains the expected parking area information under a preset map coordinate system, which is used as the parking area information. The expected parking area information is obtained based on the endpoint location, the parking condition information corresponding to the endpoint location, and the parking capacity information of the vehicle obtained in advance.

3. The method according to claim 1, wherein, The step of determining the parking grid attribute information corresponding to the parking location based on the parking area information includes: Based on the parking area information, determine the set of parking grid outline points corresponding to the parking location; Determine the color information of the parking space; Based on the parking space outline point set and the parking space color information, the parking space attribute information is determined.

4. The method according to claim 1, wherein, The parking space attribute information includes the parking space outline point set and the parking space color information; The step of displaying the parking space corresponding to the parking location on the display screen of the display terminal based on the parking space attribute information includes: Based on the set of outline points of the parking space, the target display area of ​​the parking space in the display screen is determined; Based on the color information of the parking space, determine the target color of the target display area; The parking space is displayed on the screen based on the target display area and the target color.

5. The method according to claim 4, wherein, Also includes: Acquire high-precision map information and perception result information within a preset range around the vehicle; Determine the target display position of the vehicle in the display screen; The step of displaying the parking space on the display screen based on the target display area and the target color includes: Based on the high-precision map information and the perception result information, the high-precision map corresponding to the high-precision map information and the perception object corresponding to the perception result information are displayed on the display screen, the vehicle is displayed at the target display position, and parking spaces of the target color are displayed in the target display area.

6. The method according to claim 1, wherein, The parking area information includes the expected parking area information under a preset map coordinate system and the center point corresponding to the expected parking area information; The step of displaying the parking space corresponding to the parking location on the display screen of the display terminal based on the parking space attribute information includes: Based on the center point corresponding to the expected parking area information, determine the target position of the preset parking mark in the parking space; Determine the target direction of the preset parking mark; Based on the parking space attribute information, the parking space is displayed on the display screen, and the preset parking mark is displayed at the target position of the parking space in the target direction.

7. The method according to any one of claims 1-6, wherein, The step of displaying the parking space corresponding to the parking location on the display screen of the display terminal based on the parking space attribute information includes: Determine the planned route information from the vehicle to the destination location; Based on the parking space attribute information and the planned path information, determine the cutoff position between the planned path corresponding to the planned path information and the parking space; Based on the planned path information and the cutoff position, determine the target path information after the cutoff; Based on the parking space attribute information and the target path information, the target path corresponding to the target path information and the parking space are displayed on the display screen.

8. The method according to any one of claims 1-6, wherein, The step of determining the parking grid attribute information corresponding to the parking location based on the parking area information includes: Based on the parking area information and the vehicle's current location information, determine whether the parking location display conditions are met at the current moment; In response to the current moment meeting the parking location display conditions, the parking grid attribute information corresponding to the parking location is determined based on the parking area information.

9. The method according to any one of claims 1-6, wherein, The step of determining the parking grid attribute information corresponding to the parking location based on the parking area information includes: Determine the obstacle information within the area corresponding to the parking area information; In response to the obstacle information meeting preset conditions, the parking area information is redefined based on the extended area of ​​the parking area information; Based on the redefined parking area information, the attribute information of the parking space is determined.

10. A parking position display device for a display terminal on a vehicle, comprising: The first processing module is used to determine the parking area information corresponding to the endpoint location; The second processing module is used to determine the parking grid attribute information corresponding to the parking location based on the parking area information. The third processing module is used to display the parking space corresponding to the parking position on the display screen of the display terminal based on the parking space attribute information.

11. An electronic device, the electronic device comprising: processor; Memory used to store the processor's executable instructions; The processor is configured to read the executable instructions from the memory and execute the instructions to implement the method described in any one of claims 1-9. or, The electronic device includes the apparatus of claim 10.

12. A computer-readable storage medium storing a computer program for performing the method according to any one of claims 1-9.

13. A computer program product, which, when instructions in the computer program product are executed by a processor, performs the method described in any one of claims 1-9 of this disclosure.

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