Automatic parking display method and apparatus, electronic device, storage medium, and vehicle

Abstract

The present application discloses an automatic parking display method, an automatic parking display system, an automatic parking display apparatus, an electronic device, a storage medium, and a vehicle. The method comprises: obtaining a parking instruction started by a user terminal; on the basis of the parking instruction, obtaining a parking environment and historical parking route information; obtaining target parking place information of the user terminal; on the basis of current parking environment information and the historical parking route information, obtaining parking route information to a target parking place of the user terminal; parking on the basis of the parking route information, and periodically feeding back the parking environment information in a current parking state; and on the basis of the parking environment information in the current parking state periodically fed back, periodically refreshing the parking route information and displaying same on the user terminal. By means of the above solution, the parking environment information in the current parking state is fed back in real time and the generated parking route is kept self-corrected, so that the generated parking route is guaranteed to change along with a parking position and the deviation of a route result is prevented.

Description

Automatic parking display method, device, electronic device, storage medium and vehicle Technical Field

[0001] The present application relates to the field of display, and in particular to an automatic parking display method, an automatic parking display system, an automatic parking display device, an electronic device, a storage medium, and a vehicle. Background Art

[0002] The smart cockpit is a key interface integrating intelligent driving, full-vehicle entertainment, and artificial intelligence. Cars equipped with autonomous driving technology, integrating intelligent driving and smart cockpit technologies across multiple regions, can effectively meet users' demands for haptic interaction with intelligent vehicles. The 3D display module is a technical approach to improving the quality of user haptic interaction. The 3D display in the smart cockpit can be used to represent the parking path, presenting information such as the parking path, distance, and surrounding objects on the interactive screen. This provides the driver with comprehensive map information, assisting them in accurately and safely entering parking spaces. However, the specific implementation method may cause positioning deviations or display distortion between the virtual image and the real-time image.

[0003] Therefore, a solution for automatic parking display is needed to dynamically display the parking image on the display terminal and eliminate the distortion or deviation in the image in real time.

[0004] Summary of the Invention

[0005] The object of the present invention is to provide an automatic parking display method, an automatic parking display system, an automatic parking display device, an electronic device, a storage medium and a vehicle, so as to solve at least one of the above-mentioned technical problems.

[0006] The present invention provides the following solutions:

[0007] According to one aspect of the present invention, there is provided an automatic parking display method, the automatic parking display method comprising:

[0008] Get the user's parking start instruction;

[0009] Acquiring parking environment and parking route history information according to the parking instruction;

[0010] Acquiring parking environment information includes acquiring the coordinates, direction, and corresponding environment perception information of the vehicle in a map coordinate system;

[0011] The acquisition of parking route history information includes obtaining historical parking route information to a preset parking target location based on the coordinates and direction of the vehicle in a map coordinate system;

[0012] Obtain parking target location information from the user;

[0013] Obtain parking route information to the user's parking target location based on current parking environment information and parking route history information;

[0014] Parking the vehicle according to the parking route information and periodically feeding back the parking environment information in the current parking state;

[0015] The parking route information is periodically refreshed based on the periodic feedback of the parking environment information under the current parking state and displayed on the user terminal.

[0016] Furthermore, it also includes:

[0017] Obtain 3D map data information of the vehicle's coordinates and direction in the map coordinate system, as well as radar ranging information and panoramic surround view image information;

[0018] determining, based on the panoramic surround image information, whether there are any obstacles on the parking route in the current parking state;

[0019] If there is an obstacle on the parking route, determining whether the obstacle on the parking route corresponds to the 3D map data information of the coordinates and direction of the vehicle in the map coordinate system based on the radar ranging information;

[0020] If the obstacle on the parking route corresponds to the 3D map data information of the coordinates and direction of the vehicle in the map coordinate system, parking is performed according to the parking route information;

[0021] If the obstacle on the parking route does not correspond to the 3D map data information of the coordinates and direction of the vehicle in the map coordinate system, the 3D map data information of the coordinates and direction of the vehicle in the map coordinate system is corrected according to the radar ranging information.

[0022] Furthermore, it also includes:

[0023] Annotate the panoramic surround view image based on the 3D map data information of the vehicle's coordinates and direction in the map coordinate system;

[0024] Determining whether the panoramic surround view image annotated in the 3D map data information is distorted based on the 3D map data information of the coordinates and direction of the vehicle in the map coordinate system;

[0025] If the panoramic surround view image annotated by the 3D map data is distorted, the panoramic surround view image annotated by the 3D map data is corrected based on the coordinates and direction of the vehicle in the map coordinate system.

[0026] Furthermore, judging whether the panoramic surround view image annotated in the 3D map data information is distorted based on the 3D map data information of the coordinates and direction of the vehicle in the map coordinate system further includes:

[0027] The correction is based on the 3D map data information of the vehicle's coordinates and direction in the map coordinate system, and the annotated panoramic surround view image includes adjusting the panoramic surround view camera parameters.

[0028] According to two aspects of the present invention, there is provided an automatic parking display system, the automatic parking display system comprising: a user terminal module, an auxiliary driving module and a vehicle control module;

[0029] The user terminal module is used to start parking and display the parking screen;

[0030] The auxiliary driving module is used to generate a parking route;

[0031] The vehicle computer module is used to sense the parking environment and store parking route history information;

[0032] The user terminal module obtains and sends a parking start instruction;

[0033] The vehicle-mounted module receives the data from the user-end module, obtains the parking environment and stores the parking route history information according to the parking start instruction;

[0034] The user terminal module receives the data from the vehicle computer module and generates parking location information based on the parking environment and parking route history information;

[0035] The auxiliary driving module receives the user terminal module data and sends a request for obtaining parking environment and parking route history information according to the parking start instruction;

[0036] The vehicle computer module receives the data from the auxiliary driving module and sends the vehicle environment and parking route history information according to the request for obtaining the parking environment and parking route history information;

[0037] The auxiliary driving module receives data from the user terminal module and the vehicle computer module, generates parking route information based on parking location information, parking environment and parking route history information, and sends the generated parking route information;

[0038] The vehicle computer module receives the data from the auxiliary driving module and controls the user terminal module to display the parking screen according to the parking route information.

[0039] Furthermore, the vehicle control module further includes: a 3D display module;

[0040] The 3D display module is used to display the 3D parking image;

[0041] The 3D display module controls the 3D image display of the user terminal module according to the parking environment and parking route history information;

[0042] The user terminal module obtains parking location information triggered on the 3D image;

[0043] The 3D display module converts the parking location information triggered on the 3D screen into 2D parking location information;

[0044] The auxiliary driving module generates a parking route based on the 2D parking location information;

[0045] The vehicle-mounted module displays the 3D parking route on the user-end module, including controlling the user-end module to display the 3D parking route in the 3D parking screen display.

[0046] According to three aspects of the present invention, there is provided an automatic parking display device, the automatic parking display device comprising:

[0047] A parking instruction module is used to obtain a parking instruction initiated by a user terminal;

[0048] An information acquisition module, configured to acquire parking environment and parking route history information according to the parking instruction;

[0049] Acquiring parking environment information includes acquiring the coordinates, direction, and corresponding environment perception information of the vehicle in a map coordinate system;

[0050] The acquisition of parking route history information includes obtaining historical parking route information to a preset parking target location based on the coordinates and direction of the vehicle in a map coordinate system;

[0051] The target location module is used to obtain the user's parking target location information;

[0052] A parking route module is used to obtain parking route information to the user's parking target location based on current parking environment information and parking route history information;

[0053] a state feedback module, configured to park the vehicle according to the parking route information and periodically provide feedback on the parking environment information under the current parking state;

[0054] The display refresh module is used to periodically refresh the parking route information based on the periodic feedback of the parking environment information under the current parking state, and display it on the user terminal.

[0055] According to four aspects of the present invention, there is provided an electronic device, comprising: a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other via the communication bus;

[0056] The memory stores a computer program, which, when executed by the processor, causes the processor to execute the steps of the automatic parking display method.

[0057] According to five aspects of the present invention, a computer-readable storage medium is provided, comprising: a computer program executable by an electronic device is stored therein, and when the computer program runs on the electronic device, the electronic device executes the steps of the automatic parking display method.

[0058] According to a sixth aspect of the present invention, there is provided a vehicle comprising:

[0059] An electronic device for implementing the steps of the automatic parking display method;

[0060] a processor, the processor running a program, and executing the steps of the automatic parking display method based on data output by the electronic device when the program is running;

[0061] The storage medium is used to store a program, and when the program is run, it executes the steps of the automatic parking display method for data output from the electronic device.

[0062] Through the above solution, the following beneficial technical effects are achieved:

[0063] This application provides real-time feedback of the parking environment information under the current parking state, so that the parking route generated based on the parking environment information can maintain self-correction, ensuring that the generated parking route changes with the parking position and there is no deviation in the route result.

[0064] This application refreshes the display of the parking route on the display terminal to keep the parking movement and the screen display update corresponding, preventing the screen from lagging and losing the physical authenticity brought by the 3D screen.

[0065] This application uses radar to scan surrounding obstacles and compares them with the obstacles in the 3D map to prevent distortion or deviation of the 3D map data of the vehicle's coordinates and direction in the map coordinate system.

[0066] This application uses the 3D map data information of the vehicle's coordinates and direction in the map coordinate system to mark the panoramic surround view image, so that the panoramic surround view image is consistent with the vehicle's coordinates in the map coordinate system, and prevents image distortion caused by delays in the vehicle obtaining the 3D map data information of the vehicle's coordinates and direction in the map coordinate system from the cloud.

[0067] This application adjusts the panoramic view camera parameters to eliminate the distortion of the panoramic view image annotated with 3D map data information, such as the deviation between the depth of field of the picture and the 3D map data and the deformity of the picture. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] FIG1 is a flowchart of an automatic parking display method provided by one or more embodiments of the present invention.

[0069] FIG2 is a structural diagram of an automatic parking display system provided by one or more embodiments of the present invention.

[0070] FIG3 is a structural diagram of an automatic parking display device provided by one or more embodiments of the present invention.

[0071] FIG4 is a schematic diagram of enabling the memory parking function according to a specific embodiment of the present invention.

[0072] FIG5 is a schematic diagram of a mapping screen on a 3D map according to a specific embodiment of the present invention.

[0073] FIG6 is a schematic diagram of selecting a target location on a 3D map according to a specific embodiment of the present invention.

[0074] FIG7 is a schematic diagram of a 3D image display during parking according to a specific embodiment of the present invention.

[0075] FIG8 is a schematic diagram of a 3D image display of parking in a selected parking space according to a specific embodiment of the present invention.

[0076] FIG9 is a block diagram of an electronic device structure of an automatic parking display method provided by one or more embodiments of the present invention. DETAILED DESCRIPTION

[0077] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0078] FIG1 is a flowchart of an automatic parking display method provided by one or more embodiments of the present invention.

[0079] The automatic parking display method shown in FIG1 includes:

[0080] Step S1, obtaining a parking start instruction from a user terminal;

[0081] Step S2: acquiring parking environment and parking route history information according to the parking instruction;

[0082] Step S3, obtaining the user's parking target location information;

[0083] Step S4, obtaining parking route information to the user's parking target location based on the current parking environment information and the parking route history information;

[0084] Step S5: Parking the vehicle according to the parking route information and periodically providing feedback on parking environment information in the current parking state;

[0085] Step S6: Based on the periodic feedback of the parking environment information under the current parking state, the parking route information is periodically refreshed and displayed on the user end.

[0086] Through the above solution, the following beneficial technical effects are achieved:

[0087] This application provides real-time feedback of the parking environment information under the current parking state, so that the parking route generated based on the parking environment information can maintain self-correction, ensuring that the generated parking route changes with the parking position and there is no deviation in the route result.

[0088] This application refreshes the display of the parking route on the display terminal to keep the parking movement and the screen display update corresponding, preventing the screen from lagging and losing the physical authenticity brought by the 3D screen.

[0089] This application uses radar to scan surrounding obstacles and compares them with the obstacles in the 3D map to prevent distortion or deviation of the 3D map data of the vehicle's coordinates and direction in the map coordinate system.

[0090] This application uses the 3D map data information of the vehicle's coordinates and direction in the map coordinate system to mark the panoramic surround view image, so that the panoramic surround view image is consistent with the vehicle's coordinates in the map coordinate system, and prevents image distortion caused by delays in the vehicle obtaining the 3D map data information of the vehicle's coordinates and direction in the map coordinate system from the cloud.

[0091] This application adjusts the panoramic view camera parameters to eliminate the distortion of the panoramic view image annotated with 3D map data information, such as the deviation between the depth of field of the picture and the 3D map data and the deformity of the picture.

[0092] Specifically, a command to initiate the parking function is issued through the human-computer interaction function of the user terminal. For example, the user's identity and whether the parking start command has been issued are confirmed through voice recognition, facial recognition, fingerprint recognition, etc. Based on the parking command, parking environment information is obtained, including obtaining the vehicle's coordinates and direction in the map coordinate system, as well as corresponding environmental perception information. Based on the parking command, historical parking route information is obtained, including historical parking route information to a preset parking target location based on the vehicle's coordinates and direction in the map coordinate system. The parking environment information can be displayed on the user terminal (e.g., a touch screen), and the user can select the target parking location (e.g., an available parking space) on the screen based on the parking environment information displayed on the screen through input methods such as manual touch. Because the parking route history information contains data such as the operation records of numerous parking attempts, the historical parking route data can be compared to find the historical record that is closest to the current parking environment information and the parking target location. This can be used as a reference route or guidance route to guide the current parking movement, such as controlling wheel steering, controlling movement speed, and converting the control position through reference points (for example, converting the position change of the parking movement through triangulation positioning).

[0093] As the parking maneuver progresses, the surrounding environment or the perspective of information collection changes. It is necessary to check or confirm whether the reference route or guidance route can still guide the current parking maneuver based on the current environmental information. If it is not suitable, the historical record that is closest to the current parking environment information and parking target location is found again and used as the reference route or guidance route to guide the current parking maneuver.

[0094] The user terminal displays real-time environmental information during the parking process. For example, the panoramic surround view provides feedback on changes in the vehicle's position, angle, and speed during parking maneuvers. Map information is displayed in real time on the user terminal, overlaid with the panoramic surround view. The user terminal displays the route being taken during parking maneuvers, or the route the vehicle will take, in real time, corresponding to the coordinates on the map.

[0095] By periodically refreshing the parking screen on the user terminal, an instant and accurate process screen is provided for the automatic parking or manual parking process.

[0096] In this embodiment, it also includes:

[0097] Obtain 3D map data information of the vehicle's coordinates and direction in the map coordinate system, as well as radar ranging information and panoramic surround view image information;

[0098] Based on the panoramic surround view image information, determine whether there are any obstacles on the parking route in the current parking state;

[0099] If there is an obstacle on the parking route, the 3D map data information of the coordinates and direction of the vehicle in the map coordinate system is determined based on the radar ranging information;

[0100] If the obstacle on the parking route corresponds to the 3D map data information of the vehicle's coordinates and direction in the map coordinate system, parking is performed according to the parking route information;

[0101] If the obstacle on the parking route does not correspond to the 3D map data information of the vehicle's coordinates and direction in the map coordinate system, the 3D map data information of the vehicle's coordinates and direction in the map coordinate system is corrected based on the radar ranging information.

[0102] Specifically, according to the parking instruction, satellite data is called to obtain the parking environment and the longitude and latitude coordinates of the vehicle, and the vehicle's stored data is called to obtain the historical information of the parking route; based on the parking environment and the longitude and latitude coordinates of the vehicle, 3D map data information of the vehicle's coordinates and direction in the map coordinate system is set;

[0103] Map positioning data can be obtained through vehicle satellite positioning, such as Beidou satellite. A request for 3D map data of the vehicle's coordinates and direction in the map coordinate system is sent to the cloud, and the vehicle obtains 3D map data of its current location. The 3D map status of the vehicle's coordinates and direction in the map coordinate system is displayed on the user terminal (such as a touch screen display, etc.), corresponding to the panoramic surround image. In addition to plane (X-axis, Y-axis) data, 3D data also includes three-dimensional (Z-axis) data. Interference in the Z-axis direction of the vehicle radar scan (such as obstacles) should correspond to the 3D map data (such as obstacles) of the vehicle's current location. However, one possibility cannot be ruled out: the vehicle's satellite positioning is not accurate enough, and there is a deviation between the 3D map data of the vehicle's location and the actual location map data, and there is a lack of reference objects for correction.

[0104] Objects in the Z-axis direction scanned by the vehicle's radar (e.g., obstacles) can be compared with the 3D map data of the vehicle's location (e.g., obstacles), such as the distance between the obstacle and the vehicle's coordinate point, and the position and direction of the obstacle relative to the vehicle, thereby correcting the 3D map data of the vehicle's location and eliminating the 3D map data coordinate deviation caused by inaccurate vehicle satellite positioning.

[0105] In this embodiment, it also includes:

[0106] Annotate the panoramic surround view image based on the 3D map data information of the vehicle's coordinates and direction in the map coordinate system;

[0107] Determining whether the panoramic surround view image annotated in the 3D map data information is distorted based on the 3D map data information of the coordinates and direction of the vehicle in the map coordinate system;

[0108] If the panoramic surround view image annotated by the 3D map data is distorted, the panoramic surround view image annotated by the 3D map data is corrected based on the coordinates and direction of the vehicle in the map coordinate system.

[0109] Specifically, the radar-calibrated 3D map data of the vehicle's coordinates and orientation in the map coordinate system should correspond to the panoramic surround view image. For example, obstacles in the panoramic surround view image may overlap with those in the 3D map data acquired for the vehicle's location. However, it is possible that panoramic surround view images processed using "fisheye" camera technology, video stitching technology, or other techniques may exhibit image distortion. While this can be corrected through algorithms, the display of the 3D map image of the vehicle's location on the user terminal and the panoramic surround view image on the user terminal may deviate due to the lack of a shared reference object or reference system. The panoramic surround view image can be annotated based on the 3D map data of the vehicle's coordinates and orientation in the map coordinate system, using obstacles as reference objects, to ensure that obstacles in the panoramic surround view image on the user terminal screen match the annotated 3D map data.

[0110] The vehicle's posture changes are sensed by the on-board gyroscope, and the gyroscope's sensing data is used to continuously refresh the vehicle's posture changes. This is used to compensate for the brief lag in the display of 3D map data information such as the vehicle's coordinates and direction in the map coordinate system on the screen due to poor network conditions.

[0111] In this embodiment, judging whether the panoramic surround view image annotated in the 3D map data information is distorted based on the 3D map data information of the coordinates and direction of the vehicle in the map coordinate system further includes:

[0112] Correction is based on the 3D map data information of the vehicle's coordinates and direction in the map coordinate system, and the annotated panoramic surround view image includes adjusting the panoramic surround view camera parameters.

[0113] Specifically, by adjusting the parameters of the panoramic view camera, such as the depth of field parameters, the picture can be zoomed in so that the displayed obstacles correspond to the same outline as the 3D map data information, such as the distortion repair parameters, the 3D map data information can be marked with each reference object in the panoramic view image to eliminate distortion.

[0114] FIG2 is a structural diagram of an automatic parking display system provided by one or more embodiments of the present invention.

[0115] The automatic parking display system shown in FIG2 includes: a user terminal module, an auxiliary driving module and a vehicle control module;

[0116] A user-side module is used to start parking and display the parking screen;

[0117] Assisted driving module, used to generate parking routes;

[0118] The vehicle computer module is used to sense the parking environment and store parking route history information;

[0119] The user-side module obtains the parking start instruction and sends it;

[0120] The vehicle computer module receives data from the user terminal module, obtains the parking environment and stores the parking route history information according to the parking start instruction;

[0121] The user-end module receives data from the vehicle-mounted module and generates parking location information based on the parking environment and parking route history information;

[0122] The assisted driving module receives data from the user-side module and, based on the parking start instruction, sends a request to obtain parking environment and parking route history information;

[0123] The vehicle computer module receives data from the auxiliary driving module and sends the vehicle environment and parking route history information according to the request for obtaining parking environment and parking route history information;

[0124] The assisted driving module receives data from the user-end module and the vehicle-mounted module, generates parking route information based on parking location information, parking environment, and parking route history information, and sends it;

[0125] The vehicle computer module receives data from the assisted driving module and controls the user-end module to display the parking screen based on the parking route information.

[0126] Specifically, the user-end module can use a touch screen or multiple split screens, arranged around the driver's seat and around the inner wall of the cockpit. The assisted driving module can use the autonomous driving domain controller HAD (Highly Autonomous Driving) to generate parking routes with its multi-sensor fusion, positioning, path planning, decision control, wireless communication, and high-speed communication capabilities. The vehicle-mounted module, such as the entertainment console (CSC), is loaded with 3D parking path data. For example, the memory parking system, which generates a memory map after autonomously learning the route provided by HPA (Home-Zone Parking), is stored on the CSC side and is suitable for driving routes in parking lots such as home communities.

[0127] When the user initiates parking from the user end, the CSC receives the memory parking function activation signal sent by the HAD, and displays the AVM (around view image) impact area and a 3D global schematic diagram as a preparatory interface for memory parking (e.g., obtaining parking environment information and storing parking route history information). The 3D global schematic diagram can be depicted by 3D application software, including map information, target location highlighting, and global path, and displayed in 3D around the driver's seat on the touch screen or multiple split screens. The CSC interface can switch perspectives according to the HAD perspective switching parameters, adjusting the camera angle and position of the 3D map, etc.

[0128] In this embodiment, the vehicle control module further includes: a 3D display module;

[0129] 3D display module, used for 3D parking image display;

[0130] The 3D display module controls the 3D image display of the user terminal module based on the parking environment and parking route history information;

[0131] The user-end module obtains parking location information triggered on the 3D screen;

[0132] The 3D display module converts the parking location information triggered on the 3D screen into 2D parking location information;

[0133] The assisted driving module generates a parking route based on 2D parking location information;

[0134] The vehicle-mounted module displays a 3D parking route on the user-end module, including controlling the user-end module to display the 3D parking route on the 3D parking screen display.

[0135] Specifically, because vehicles travel on flat surfaces or ground, parking location information must be converted into 2D data. For example, if a user taps a roadside plant on a terminal (e.g., a touchscreen), the vehicle can only park next to the plant. Once a parking route is generated, it is converted into 3D and integrated into the panoramic surround image annotated with 3D map data.

[0136] FIG3 is a structural diagram of an automatic parking display device provided by one or more embodiments of the present invention.

[0137] The automatic parking display device shown in FIG3 includes: a parking instruction module, an information acquisition module, a target location module, a parking route module, a status feedback module, and a display refresh module;

[0138] A parking instruction module is used to obtain a parking instruction initiated by a user terminal;

[0139] An information acquisition module, used to obtain parking environment and parking route history information according to parking instructions;

[0140] The target location module is used to obtain the user's parking target location information;

[0141] A parking route module is used to obtain parking route information to the user's parking target location based on current parking environment information and parking route history information;

[0142] A state feedback module is used to park the vehicle according to the parking route information and periodically feedback parking environment information under the current parking state;

[0143] The display refresh module is used to periodically refresh the parking route information based on the periodic feedback of the parking environment information under the current parking state and display it on the user end.

[0144] It is worth noting that although the present system only discloses a parking instruction module, an information acquisition module, a target location module, a parking route module, a status feedback module, and a display refresh module, the present invention, in contrast, means that, based on the above-mentioned basic functional modules, those skilled in the art can arbitrarily add one or more functional modules in combination with existing technologies to form an infinite number of embodiments or technical solutions. In other words, the present system is open rather than closed. Just because the present embodiment only discloses individual basic functional modules, it cannot be considered that the scope of protection of the claims of the present invention is limited to the above-mentioned basic functional modules.

[0145] FIG4 is a schematic diagram of enabling the memory parking function according to a specific embodiment of the present invention.

[0146] FIG5 is a schematic diagram of a mapping screen on a 3D map according to a specific embodiment of the present invention.

[0147] FIG6 is a schematic diagram of selecting a target location on a 3D map according to a specific embodiment of the present invention.

[0148] FIG7 is a schematic diagram of a 3D image display during parking according to a specific embodiment of the present invention.

[0149] FIG8 is a schematic diagram of a 3D image display of parking in a selected parking space according to a specific embodiment of the present invention.

[0150] In one specific embodiment, intelligent driving technology and smart cockpit technology are integrated across regions to enhance the user's immersive experience with intelligent vehicles. A 3D display in the smart cockpit illustrates the parking path. Information such as the parking path, distance, and surrounding objects is presented on the interactive screen, providing the driver with comprehensive map information to assist in finding a parking space.

[0151] The operating system can be Android, and data can be exchanged with the parking application's ADAS domain control unit (HAD), along with the surround view camera (AVM), parking memory system (HPA), and entertainment console (CSC). A 3D parking path display is used.

[0152] Using a 3D scene map, map data is visualized, providing users with 3D parking path information through local and global switching. The vehicle's surroundings can be displayed in two areas: the AVM image and the 3D map. One area displays the real-time image, the other the parking path depicted by the 3D application. Alternatively, the real-time image and 3D map can be fused and overlaid on the same screen, with multiple split screens around the cockpit displayed in a spliced ​​fashion. The parking path is then fused and displayed on the cockpit screen.

[0153] In another specific embodiment, to implement the 3D parking path display and switching function, a parking path display process is created, which includes the user turning on the HPA function, selecting the parking target location, displaying a local or global 3D image of the parking, and selecting the parking method. The interaction between the parking function and the CSC involves the HAD controller, and the hardware communication interfaces include LVDS and Ethernet. The 3D parking path is mainly provided by the HPA. The HPA is a memory-type parking system that generates a memory map after the user independently learns the route. The map is stored on the CSC side and is suitable for parking lots such as residential communities. The AVM image provides a real-world perspective to assist the 3D environment, preventing the user from being unable to grasp the surrounding conditions of the vehicle body in a timely manner due to delays or recognition problems in the virtual scene information, thereby enhancing the safety of the parking function. The parking path display process includes: Step 1, turning on the memory parking function; Step 2, selecting the target location; Step 3, displaying the 3D image during parking; Step 4, selecting a parking space.

[0154] In another specific embodiment, as shown in Figure 4, the memory parking function is enabled. The CSC receives a signal from the HAD to enable the memory parking function and displays the AVM impact area and a 3D global diagram as a preparatory interface for memory parking. The 3D global diagram is drawn by the 3D application software and includes map information, target location highlighting, and a global path. The CSC interface can switch perspectives based on the HAD perspective switching parameters, adjusting the camera angle and position of the 3D map.

[0155] In another specific embodiment, as shown in Figure 5, the 3D map perspective switching is controlled by the user touching the display screen. The user's operating point is located, displacement data is calculated, and mapped to the HAD perspective switching operation. The displacement distance, direction, and speed data are transmitted to the CSC 3D application software as a visual switching signal, which then calls the camera parameters. The final effect is displayed on the CSC 3D map.

[0156] In another specific embodiment, as shown in Figure 6 , the CSC receives a parking target selection signal from the HAD and displays the AVM image area and a parking target menu. The 3D application software is responsible for displaying the parking target menu. The target menu consists of a search box and a historical selection list. The historical selection list lists the user's previously used parking paths. If the user is using the target selection function for the first time, the menu will not contain target path information. The CSC is responsible for storage, display, and input method access.

[0157] In another specific embodiment, as shown in Figure 7, a 3D image is displayed during parking. The CSC receives the parking path signal sent by the HAD and displays the AVM image area and the parking path map accordingly. The parking path map is displayed by the 3D application software. The 3D parking path map includes map information, dynamic and static obstacle information, target point highlighting, and the global path. The initial parking path map screen is a 3D map of the path around the vehicle. The user can change the CSC's perspective by clicking the global path view, switching the display to the global path map.

[0158] In another specific embodiment, as shown in Figure 8, a parking space is selected. The CSC receives the parking space selection signal from the HAD and displays the AVM image area and the parking space map accordingly. The parking space map includes map information, dynamic and static obstacle information, the vehicle's current position, and target point location information, and is displayed by the 3D application software. After the user selects a parking space, the 3D map is closed and the CSC displays only the AVM reversing image.

[0159] FIG9 is a block diagram of an electronic device structure of an automatic parking display method provided by one or more embodiments of the present invention.

[0160] As shown in FIG9 , the present application provides an electronic device, including: a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other via the communication bus;

[0161] The memory stores a computer program, which, when executed by the processor, causes the processor to execute steps of an automatic parking display method.

[0162] The present application also provides a computer-readable storage medium storing a computer program executable by an electronic device. When the computer program runs on the electronic device, the electronic device executes the steps of an automatic parking display method.

[0163] The present application also provides a road command system, comprising:

[0164] An electronic device for implementing the steps of an automatic parking display method;

[0165] a processor, the processor running a program, and executing the steps of the automatic parking display method based on data output by the electronic device when the program is running;

[0166] The storage medium is used to store a program, and when the program is running, it executes the steps of the automatic parking display method for data output from the electronic device.

[0167] The communication bus mentioned in the electronic device mentioned above may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is used in the figure, but this does not mean that there is only one bus or only one type of bus.

[0168] The electronic device includes a hardware layer, an operating system layer running on the hardware layer, and an application layer running on the operating system. The hardware layer includes hardware such as a central processing unit (CPU), a memory management unit (MMU), and memory. The operating system can be any one or more computer operating systems that control electronic devices through processes, such as the Linux operating system, the Unix operating system, the Android operating system, the iOS operating system, or the Windows operating system. In the embodiments of the present invention, the electronic device can be a handheld device such as a smartphone or a tablet computer, or an electronic device such as a desktop computer or a portable computer, which is not particularly limited in the embodiments of the present invention.

[0169] The execution subject of the electronic device control in the embodiment of the present invention can be an electronic device, or a functional module in the electronic device that can call a program and execute the program. The electronic device can obtain the firmware corresponding to the storage medium. The firmware corresponding to the storage medium is provided by the supplier. The firmware corresponding to different storage media can be the same or different, and is not limited here. After the electronic device obtains the firmware corresponding to the storage medium, it can write the firmware corresponding to the storage medium into the storage medium, specifically, burn the firmware corresponding to the storage medium into the storage medium. The process of burning the firmware into the storage medium can be implemented using existing technology and will not be described in detail in the embodiment of the present invention.

[0170] The electronic device can also obtain a reset command corresponding to the storage medium. The reset command corresponding to the storage medium is provided by the supplier. The reset commands corresponding to different storage media can be the same or different, and are not limited here.

[0171] In this case, the storage medium of the electronic device is a storage medium in which the corresponding firmware is written. The electronic device can respond to the reset command corresponding to the storage medium in which the corresponding firmware is written, thereby resetting the storage medium in which the corresponding firmware is written according to the reset command corresponding to the storage medium. The process of resetting the storage medium according to the reset command can be implemented in the existing technology and will not be described in detail in the embodiments of the present invention.

[0172] For the convenience of description, the above devices are described as various units and modules according to their functions. Of course, when implementing this application, the functions of each unit and module can be implemented in the same or multiple software and / or hardware.

[0173] Those skilled in the art will understand that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by those skilled in the art in the art to which the present invention pertains. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with those in the context of the prior art and, unless specifically defined, will not be interpreted in an idealized or overly formal sense.

[0174] For simplicity of description, the method embodiments are described as a series of actions. However, those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because certain steps can be performed in other orders or simultaneously according to the embodiments of the present invention. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0175] From the description of the above embodiments, it can be seen that those skilled in the art can clearly understand that the present application can be implemented by means of software plus the necessary general-purpose hardware platform. Based on this understanding, the technical solution of the present application, or the portion that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium such as ROM / RAM, a magnetic disk, or an optical disk, and includes a number of instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments of the present application or certain portions of the embodiments.

[0176] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic parking display method, characterized in that: The automatic parking display method comprises: Obtain the user's parking start instruction; According to the parking instruction, acquiring parking environment and parking route history information; Obtain the user's parking target location information; Acquire parking route information to the user's parking target location based on current parking environment information and parking route history information; Parking according to the parking route information, and periodically feeding back the parking environment information in the current parking state; According to the periodic feedback of the parking environment information in the current parking state, the parking route information is periodically refreshed and displayed on the user terminal.

2. The automatic parking display method according to claim 1, characterized in that: Also includes: Obtain the 3D map data information of the vehicle's coordinates and direction in the map coordinate system, as well as radar ranging information and panoramic surround image information; Determining whether there are any obstacles on the parking route in the current parking state according to the panoramic surround image information; If there is an obstacle on the parking route, judging whether the obstacle on the parking route corresponds to the 3D map data information of the coordinates and direction of the vehicle in the map coordinate system according to the radar ranging information; If the obstacle on the parking route corresponds to the 3D map data information of the coordinates and direction of the vehicle in the map coordinate system, parking is performed according to the parking route information; If the obstacle on the parking route does not correspond to the 3D map data information of the coordinates and direction of the vehicle in the map coordinate system, the 3D map data information of the coordinates and direction of the vehicle in the map coordinate system is corrected according to the radar ranging information.

3. The automatic parking display method according to claim 2, characterized in that: Also includes: Annotate the panoramic surround image based on the 3D map data information of the vehicle's coordinates and direction in the map coordinate system; According to the 3D map data information of the coordinates and direction of the calibrated vehicle in the map coordinate system, it is determined whether the panoramic surround view image annotated in the 3D map data information is distorted; If the panoramic surround view image marked by the 3D map data is distorted, the panoramic surround view image marked by the 3D map data according to the coordinates and direction of the vehicle in the map coordinate system is corrected.

4. The automatic parking display method according to claim 3, characterized in that: The step of determining whether the panoramic surround view image annotated in the 3D map data information is distorted based on the 3D map data information of the coordinates and direction of the vehicle in the map coordinate system further includes: The correction is based on the 3D map data information of the coordinates and direction of the vehicle in the map coordinate system, and the annotated panoramic surround view image includes adjusting the panoramic surround view camera parameters.

5. An automatic parking display system, characterized in that: include: User end module, auxiliary driving module and vehicle control module; The user terminal module is used to start parking and display the parking screen; The auxiliary driving module is used to generate a parking route; The vehicle computer module is used to sense the parking environment and store parking route history information; The user end module obtains and sends a parking start instruction; Receiving the parking start instruction from the user terminal module according to the vehicle machine module, acquiring parking environment and parking route history information; Generate parking location information according to the parking environment and parking route history information received by the user end module from the vehicle machine module; The auxiliary driving module receives the parking start instruction from the user terminal module, and sends a request for obtaining parking environment and parking route history information; Sending parking environment and parking route history information according to the request received by the vehicle computer module from the auxiliary driving module; The auxiliary driving module receives the parking location information, parking environment and parking route history information from the user terminal module and the vehicle machine module, generates parking route information, and sends it; According to the parking route information received by the vehicle machine module from the auxiliary driving module, the user terminal module is controlled to display a parking screen.

6. The automatic parking display system according to claim 5, characterized in that: The vehicle control module also includes: a 3D display module; The 3D display module is used for 3D parking picture display; The 3D display module controls the 3D image display of the user terminal module according to the parking environment and parking route history information; The user end module obtains parking location information triggered on the 3D screen; The 3D display module converts the parking location information triggered on the 3D screen into 2D parking location information; The auxiliary driving module generates a parking route according to the 2D parking location information; The vehicle machine module displays the 3D parking route on the user terminal module, including controlling the user terminal module to display the 3D parking route in the 3D parking screen display.

7. An automatic parking display device, characterized in that: The automatic parking display device comprises: A parking instruction module, used to obtain a parking instruction initiated by a user terminal; An information acquisition module, used to acquire parking environment and parking route history information according to the parking instruction; The target location module is used to obtain the user's parking target location information; A parking route module is used to obtain parking route information to reach the user's parking target location based on current parking environment information and parking route history information; A state feedback module, used for parking according to the parking route information and periodically feeding back the parking environment information in the current parking state; The display refresh module is used to periodically refresh the parking route information according to the periodic feedback of the parking environment information in the current parking state, and display it on the user terminal.

8. An electronic device, characterized in that: include: A processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; A computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the steps of the automatic parking display method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: include: It stores a computer program executable by an electronic device. When the computer program runs on the electronic device, the electronic device executes the steps of the automatic parking display method according to any one of claims 1 to 6.

10. A vehicle, characterized in that: include: An electronic device, used to implement the steps of the automatic parking display method according to any one of claims 1 to 6; A processor, wherein the processor runs a program, and when the program runs, data output from the electronic device executes the steps of the automatic parking display method according to any one of claims 1 to 6; A storage medium for storing a program, wherein when the program is run, the program executes the steps of the automatic parking display method according to any one of claims 1 to 6 for data output from an electronic device.

Images