Method and apparatus for determining parking area, and vehicle

Abstract

A method and apparatus for determining a parking area, and a vehicle. The method comprises: acquiring a first group of images, wherein the first group of images comprise at least one image of a first parking space and at least one image of a first area, where the first parking space is located, in a first building; and when the first parking space is not a target parking space of a vehicle, deleting the at least one image of the first parking space. The present solution can be applied to the fields of intelligent vehicles such as electric vehicles and new energy vehicles, and when the first parking space is not the target parking space, an image comprising the first parking space is deleted, thereby being conducive to saving the memory overhead required by the vehicle for determining the parking area. In addition, the image of the first area is not deleted, so that the vehicle selects an image having the highest confidence from a plurality of images of the first area, determines the first area on the basis of the image having the highest confidence, and sends the image having the highest confidence or the information of the determined first area to an electronic device associated with the vehicle, and thus, it is convenient for a user to search for the vehicle, and the success rate of vehicle searching can be improved.

Description

Method, device and vehicle for determining parking area

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of China on November 28, 2023, with application number 202311613189.7 and invention name “Method, device and vehicle for determining parking areas”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of smart vehicles, and more specifically, to a method, device, and vehicle for determining a parking area. Background Art

[0003] When people park in unfamiliar areas, they tend to forget where they parked, leading to an increasing need for automated parking retrieval systems in large underground parking lots. Currently, people typically record the parking space number or the surrounding imagery. When searching for their vehicle, they use the space number and / or the surrounding imagery to determine the vehicle's location. However, simply using the space number and / or the surrounding imagery is insufficient for users to quickly locate their vehicle.

[0004] In view of this, a solution for determining parking areas that can improve the efficiency of finding a car is in urgent need of development.

[0005] Summary of the Invention

[0006] The present application provides a method, device, and vehicle for determining a parking area, which can provide users with accurate parking area information and help improve the user's vehicle-finding efficiency.

[0007] In a first aspect, a method for determining a parking area is provided. The method can be executed by a vehicle, a computing platform of the vehicle, or a chip or circuit in the computing platform. The method includes: acquiring an image associated with a first parking space; determining first parking information based on the image associated with the first parking space; the first parking information including first area information and / or second parking space information; the first parking space being a target parking space for a vehicle within a first time period; wherein the first area information indicates a location of a first building including the first parking space, and the first parking space information indicates a location of the first parking space within the first building; deleting the image associated with the first parking space when a first gear shift is detected, and the time when the vehicle moves between the first gear shift and a second gear shift is greater than or equal to a first distance threshold; or transmitting the first parking information to an electronic device when a third gear shift is detected, and the distance between the third gear shift and the second gear shift is less than or equal to a second distance threshold; and the time when the second gear shift occurs is earlier than the time when the third gear shift occurs. The electronic device is associated with the vehicle.

[0008] In some implementations, the first gear shift may include: shifting from reverse gear to driving gear, or shifting from driving gear to reverse gear; the third gear shift may include: shifting from reverse gear to parking gear; the second gear shift may include: shifting from reverse gear to driving gear, or shifting from driving gear to reverse gear.

[0009] For example, the first distance threshold may be 3 meters, or 5 meters, or other values. The second distance threshold may be 2 meters, or 1.5 meters, or other values.

[0010] It is understood that when the vehicle shifts into the first gear and the distance traveled between the first and second gear shifts is greater than or equal to a first distance threshold, the vehicle can be considered to have aborted its attempt to park into the first parking space, i.e., the vehicle is no longer parking into the first parking space. When the vehicle shifts into the third gear and the distance traveled between the third and second gear shifts is less than or equal to a second distance threshold, the vehicle can be considered to have parked into the first parking space.

[0011] During the parking process, due to the different parking difficulties, multiple parking spaces may be selected as target parking spaces in succession. For the above situation, the above technical solution can only send the parking information of the parking space where the vehicle is finally parked to the electronic device, and can clear the locally stored images associated with other parking spaces, which can improve the success rate of finding the vehicle while saving the vehicle's storage overhead.

[0012] In combination with the first aspect, in certain implementations of the first aspect, the method further includes: obtaining an image associated with a second parking space, determining second parking information based on the image associated with the second parking space, the second parking information including second area information and / or second parking space information, the second parking space being the target parking space for the vehicle within a second time period; wherein the starting time of the second time period is equal to or later than the ending time of the first time period, the second area information indicates the location of the first building, and the second parking space information indicates the location of the second parking space in the first building.

[0013] In combination with the first aspect, in some implementations of the first aspect, the method further includes: sending second parking information to the electronic device.

[0014] In combination with the first aspect, in certain implementations of the first aspect, before obtaining the image associated with the first parking space, the method also includes: when the speed of the vehicle is less than or equal to the speed threshold and the signal strength of the first sensor is less than or equal to the first intensity threshold, controlling the vehicle's camera device to capture a video stream, the video stream including the image associated with the first parking space, and the first sensor is a satellite navigation sensor.

[0015] In combination with the first aspect, in certain implementations of the first aspect, the method further includes: determining a frame sampling frequency based on the speed of the vehicle and / or the distance traveled by the vehicle; obtaining an image associated with the first parking space, including: obtaining an image associated with the first parking space from the video stream based on the frame sampling frequency.

[0016] In a second aspect, a method for determining a parking area is provided, which can be executed by a vehicle, or by a computing platform of the vehicle, or by a chip or circuit in the computing platform. The method includes: obtaining first positioning information and information from a second sensor of the vehicle within a third time period, wherein the first positioning information is determined based on a first positioning signal, and the signal strength of the first positioning signal obtained by the third sensor is less than or equal to a second strength threshold; the start time of the third time period is the time when the first positioning signal is obtained, and the end time of the third time period is the time when the vehicle stops in the third parking space; the second sensor is a non-satellite positioning sensor, and the third sensor is a satellite positioning sensor; based on the first positioning information and the information from the second sensor, determining first position information of the third parking space, the first position information indicating the latitude, longitude and / or altitude of the third parking space.

[0017] In the above technical solution, the latitude, longitude and / or altitude of each location in the parking lot can be determined based on non-satellite positioning sensors, which helps the cloud server to construct map information of the parking lot.

[0018] In combination with the second aspect, in certain implementations of the second aspect, the method also includes: obtaining an image associated with the third parking space, determining the area information and / or parking space information of the third parking space based on the image associated with the third parking space, the area information indicating the location of the second building including the third parking space, and the parking space information indicating the location of the third parking space in the second building; sending information about the third parking space to the cloud server, the information about the third parking space including the latitude and longitude and / or altitude of the third parking space, as well as the area information and / or parking space information of the third parking space.

[0019] In the above technical solution, when the vehicle has no camera device or the use of the camera device is limited, through preliminary data collection and data marking, regional information and / or parking space information can be obtained in combination with longitude and latitude to improve user experience.

[0020] In combination with the second aspect, in certain implementations of the second aspect, the method further includes: sending first location information to a cloud server, where the first location information is used to determine the location of the building containing the third parking space and / or the location of the third parking space in the building.

[0021] In a third aspect, a device for determining a parking area is provided, which includes an acquisition unit and a processing unit, and is used to execute the method in the first aspect and any possible manner of the first aspect; or, to execute the method in the second aspect and any possible manner of the second aspect.

[0022] In a fourth aspect, a device for determining a parking area is provided, the device comprising a processor, the processor being configured to cause the device to execute the method of the first aspect and any possible manner of the first aspect by executing a computer program or instruction; or to cause the device to execute the method of the second aspect and any possible manner of the second aspect.

[0023] In a fifth aspect, a computing platform is provided, which includes the device in the third aspect and any possible manner of the third aspect; or, the computing platform includes the device in the fourth aspect and any possible manner of the fourth aspect.

[0024] In the sixth aspect, a vehicle is provided, which includes the device of the third aspect and any possible embodiment of the third aspect; or, the vehicle includes the device of the fourth aspect and any possible embodiment of the fourth aspect; or, the vehicle includes the computing platform of the fifth aspect and any possible embodiment of the fifth aspect.

[0025] In the seventh aspect, a computer-readable storage medium is provided, on which a computer program or instruction is stored. When the computer program or the instruction is run on a computer, the method in the first aspect and any possible manner of the first aspect is executed; or, the method in the second aspect and any possible manner of the second aspect is executed.

[0026] In an eighth aspect, a computer program product is provided, comprising instructions, which, when executed on a computer, cause the method of the first aspect and any possible manner of the first aspect to be executed; or, cause the method of the second aspect and any possible manner of the second aspect to be executed.

[0027] In a ninth aspect, a chip is provided, comprising a circuit for executing the method of the first aspect and any possible manner of the first aspect; or, for executing the method of the second aspect and any possible manner of the second aspect.

[0028] The method for determining parking areas provided in the embodiments of the present application enables users to more conveniently and quickly locate parking lots and parking spaces within them. When a vehicle lacks a camera or has limited access to a camera, preliminary data collection and data point generation can be combined with longitude and latitude to obtain area information and / or parking space information, improving the user experience.

[0029] In a tenth aspect, a method for determining a parking area is provided, which can be executed by a vehicle, or by a computing platform of the vehicle, or by a chip or circuit in the computing platform.

[0030] The method includes: acquiring a first group of images, the first group of images including at least one image of a first parking space and at least one image of a first area where the first parking space is located in a first building; and deleting at least one image of the first parking space when the first parking space is not a target parking space for the vehicle.

[0031] In some implementations, the distance between the first parking space and the vehicle is less than or equal to a first distance threshold. In this embodiment, the area where the vehicle is located in the first building refers to a space in the first building, such as a floor or an area on a floor.

[0032] In some implementations, when the first parking space is not the target parking space for the vehicle and the vehicle leaves the first area where the first parking space is located, at least one image of the first area is deleted.

[0033] In some implementations, the first group of images is stored in a storage device of the vehicle, and deleting at least one image of the first parking space or at least one image of the first area includes: deleting at least one image of the first parking space or at least one image of the first area stored in the storage device of the vehicle.

[0034] In the above technical solution, when the first parking space is not the target parking space, the image containing the first parking space is deleted, which helps save the memory overhead required for the vehicle to determine the parking area. In addition, while deleting the image containing the first parking space, the image of the first area is not deleted, so that the vehicle can select the image with the highest confidence (such as the confidence of the recognition result of the area number or floor number contained in the image) from multiple images of the first area, and then determine the first area based on the image with the highest confidence. The image with the highest confidence or the information of the determined first area is sent to the electronic device associated with the vehicle, so as to facilitate the user to find the vehicle, thereby improving the success rate of finding the vehicle.

[0035] In combination with the tenth aspect, in certain implementations of the tenth aspect, the method further includes: when the first parking space is the target parking space for the vehicle, determining first parking information based on the first group of images, the first parking information indicating the position of the first parking space in the first building; and sending the first parking information to the electronic device, and the electronic device is associated with the vehicle.

[0036] The location of the first parking space in the first building includes: the parking space number of the first parking space; or the area number or floor number of the first area and the parking space number of the first parking space. In some implementations, the first parking information further indicates the location of the first building, such as information about the street on which the first building is located.

[0037] In some implementations, the first parking information further includes an image of the first parking space and / or an image of the first area.

[0038] In some implementations, associating an electronic device with a vehicle may include: the electronic device and the vehicle are logged in using the same account; or, the electronic device and the vehicle are logged in using different accounts but both are accounts of authorized users of the vehicle; or, the electronic device is authorized by the authorized user of the vehicle, thereby establishing an association between the vehicle and the electronic device. Associating an electronic device with a vehicle may also include: the electronic device and the vehicle being able to transmit information via mobile communication technologies such as global system of mobile communication (GSM), general packet radio service (GPRS), and long term evolution (LTE), such as transmitting information between the electronic device and the vehicle via a cloud server; or, the electronic device and the vehicle being able to transmit information via wireless short-range communication technologies such as Bluetooth (BT) and radio frequency identification (RFID).

[0039] In the above technical solution, when the first parking space is determined to be the target parking space, parking information indicating the position of the first parking space in the first building is sent to the electronic device, which helps the user to find the car.

[0040] In some implementations, transmitting the first parking information to the electronic device may include directly transmitting the first parking information to the electronic device via short-range communication technology. In this manner, even if the mobile communication signal in the first building is poor, preventing information transmission between the vehicle and the electronic device via the cloud server, the electronic device can still receive information about the vehicle's parking location, thereby improving vehicle search efficiency and success rate.

[0041] In combination with the tenth aspect, in certain implementations of the tenth aspect, the first parking information includes a first image of the first parking space, or the first parking information is determined based on the first image, and the first image includes the parking space number of the first parking space. The method also includes: when the first parking space is the target parking space for the vehicle, deleting other images except the first image in at least one image of the first parking space.

[0042] In some implementations, the first image in at least one image of the first parking space may be the image with the highest confidence level for the parking space number of the first parking space. It is understandable that, due to the shooting angle, field of view, etc. of the vehicle's camera device (such as a fisheye camera), the captured image is greatly distorted, which in turn causes the parking space number contained in the image to be unclear or deformed, making it impossible to accurately identify the parking space number contained in the image when recognizing text, letters, numbers and other elements in the image through algorithms such as continuous optical character recognition (OCR), or the confidence level of the identified parking space number may be low. Sending the image with the highest confidence level for the parking space number to the electronic device can reduce the probability of the user finding the wrong parking space, thereby improving the success rate of finding the car.

[0043] In the above technical solution, when the first parking space is the target parking space, deleting the images of the first parking space other than the first image helps to save storage costs of the vehicle.

[0044] In combination with the tenth aspect, in certain implementations of the tenth aspect, when the first parking space is the target parking space for the vehicle, first parking information is sent to the electronic device, including: when the vehicle is parked in the first parking space, the first parking information is sent to the electronic device; or, when the vehicle has not parked in the first parking space, it is detected that the vehicle is in a parked and not powered off state, and the driver in the vehicle leaves the vehicle and the door is closed, the first parking information is sent to the electronic device; or, when the vehicle is in the process of parking in the first parking space, the first parking information is sent to the electronic device.

[0045] In some implementations, when the first parking space is determined to be the target parking space and the vehicle has not parked into the first parking space, it is detected that the vehicle is parked and not powered off, but the driver in the vehicle leaves the vehicle and the door is closed, it can be determined that the vehicle will park into the first parking space under the control of the automatic parking function.

[0046] For example, if the mobile communication signal inside the first building is poor, preventing the vehicle from transmitting the first parking information to the electronic device via the cloud server, and if the user holds the electronic device away from the vehicle while the vehicle is parked in the first parking space, such that the distance between the vehicle and the electronic device exceeds the distance achievable by wireless short-range communication, then if the first parking information is transmitted after the vehicle has parked in the first parking space, the transmission of the first parking information will obviously fail, thereby preventing the user from obtaining information about the vehicle's parking location. Therefore, in the above technical solution, the first parking information is transmitted as soon as the first parking space is determined to be the target parking space, which helps reduce the probability of failure in transmitting the first parking information, allowing the user to obtain information about the vehicle's parking location via the electronic device in a timely manner, thereby improving the success rate of finding the vehicle.

[0047] In combination with the tenth aspect, in certain implementations of the tenth aspect, the method further includes: when the distance moved by the vehicle between the first conversion and the second conversion of the vehicle's gear position is greater than or equal to a first threshold, determining that the first parking space is not the target parking space; wherein the moment when the first conversion occurs is earlier than the moment when the second conversion occurs.

[0048] In some implementations, the first shift may be a gear shift performed by the vehicle in the first parking space, e.g., the first shift may be the last gear shift before leaving the first parking space; and the second shift may be a gear shift performed when parking into or after parking into the target parking space. For example, during the process of parking into the first parking space, when the vehicle is controlled to park into the first parking space and then drives toward and / or parks into the final target parking space, the first shift may be a shift from reverse gear to drive gear, and the second shift may be a shift from drive gear to reverse gear (e.g., when the vehicle parks into the target parking space with its rear end first). Alternatively, the second shift may be a shift from drive gear to park gear (e.g., when the vehicle parks into the target parking space with its front end first).

[0049] In the above technical solution, it is possible to determine that the first parking space is not the final parking space for the vehicle based on the distance the vehicle moves between two gear changes, and then delete the image of the first parking space.

[0050] It should be noted that if the vehicle sends relevant information of the first parking space to the electronic device while parking into the first parking space, and the first parking space is not the target parking space, then during the process of parking into the target parking space, or after the vehicle parks in the target parking space, the vehicle will again send relevant information of the target parking space (such as the parking space number, location in the first building, etc.) to the electronic device, so that the parking location information displayed to the user by the electronic device is the information of the final parking location of the vehicle.

[0051] In combination with the tenth aspect, in certain implementations of the tenth aspect, the method further includes: between the third conversion and the fourth conversion of the vehicle's gear position, the distance moved by the vehicle is less than or equal to the second threshold, and the distance between the vehicle and the first parking space is less than or equal to the third threshold when the gear position undergoes the fourth conversion, and the first parking space is determined to be the target parking space; wherein, the time when the third conversion occurs is earlier than the time when the fourth conversion occurs.

[0052] In some implementations, the third shift may be a gear shift performed before the vehicle is parked in the first parking space, and the fourth shift may be a gear shift performed while the vehicle is parked in the first parking space. For example, the third shift may be a shift from drive to reverse, and the fourth shift may be a shift from reverse to park, or vice versa.

[0053] In the above technical solution, in a non-automatic parking scenario (such as when the user has not set the first parking space as the target parking space for automatic parking), the first parking space can be determined to be the final parking space for the vehicle based on the distance the vehicle moves between two gear shifts.

[0054] In combination with the tenth aspect, in certain implementations of the tenth aspect, the distance moved by the vehicle is determined based on at least one of the following: the difference in latitude and longitude of the vehicle between two gear changes, or the duration and wheel speed of the vehicle between two gear changes.

[0055] In combination with the tenth aspect, in certain implementations of the tenth aspect, the method further includes: obtaining first sensor information, the first sensor information being information collected by the second sensor between a first moment and a second moment, the first moment being the moment when the vehicle enters the first building, the second moment being the moment when the vehicle drives to the second area in the first building, and the second sensor being a non-satellite positioning sensor; determining the latitude, longitude and / or altitude of the second area based on the first sensor information.

[0056] In some implementations, the satellite positioning signal in the first building is poor, making it difficult to determine the location of the vehicle using a satellite positioning sensor.

[0057] In the above technical solution, when the satellite positioning signal in the first building is poor, determining the latitude, longitude and / or altitude information of certain areas in the first building by non-satellite positioning sensors helps to improve the accuracy of the determined vehicle parking position.

[0058] In combination with the tenth aspect, in certain implementations of the tenth aspect, the second area includes a first parking space, and the method further includes: sending location information to a cloud server, the location information including the latitude and longitude and / or altitude of the second area, and the first parking space information.

[0059] In the above technical solution, location information is sent to a cloud server, allowing the cloud server to construct a map model of the first building. The map model indicates the relationship between the latitude, longitude, and / or altitude of each parking space in the first building and the parking space number or the area (e.g., floor and / or district) in which the parking space is located. In this way, even if a vehicle does not have a high-definition camera, or the vehicle's camera is damaged or limited, making it impossible for the vehicle to determine the area information and / or parking space information of its parking space through image recognition, the vehicle can still determine and / or obtain the area information and / or parking space information of its parking space by feeding back its location information to the cloud server.

[0060] In combination with the tenth aspect, in certain implementations of the tenth aspect, the second area includes a fourth parking space, and the method further includes: determining information about the fourth parking space based on the parking space association information and the latitude, longitude and / or altitude of the second area, the information about the fourth parking space indicating at least one of the following: the parking space number of the fourth parking space, or the position of the fourth parking space in the first building; wherein the parking space association information indicates the association relationship between the latitude, longitude and / or altitude of the parking space and at least one of the following: the parking space number of the parking space, or the position of the parking space in the first building.

[0061] In the above technical solution, when the vehicle cannot determine the area information and / or parking space information of its parking space through the acquired image, the vehicle can also determine and / or obtain the area information and / or parking space information of the vehicle parking space based on the parking space association relationship and the latitude, longitude and / or altitude information of the parking space.

[0062] In combination with the tenth aspect, in certain implementations of the tenth aspect, obtaining the first group of images includes: obtaining the first group of images from the video stream based on at least one of the speed of the vehicle, the distance traveled by the vehicle, or the similarity between two adjacent frames of images in the video stream captured by the first camera device of the vehicle.

[0063] In the above technical solution, extracting frames from the video stream to obtain images based on the vehicle's speed and driving distance can reduce the probability of obtaining multiple frames of images with high similarity at the same location, which helps to reduce the computational overhead required for image processing and the storage overhead required for storing images.

[0064] In combination with the tenth aspect, in certain implementations of the tenth aspect, obtaining a first group of images from a video stream includes: when the vehicle is traveling at a first speed, obtaining the first group of images from the video stream at a first frame frequency; when the vehicle is traveling at a second speed, obtaining the first group of images from the video stream at a second frame frequency; wherein the first speed is greater than the second speed, and the first frame frequency is greater than the second frame frequency.

[0065] In the above technical solution, when the vehicle is moving quickly, images are extracted from the video stream at a faster frequency, which helps improve the accuracy of the determined vehicle location. For example, when a vehicle has already entered area B from area A, the probability of the vehicle still being determined to be in area A based on images can be reduced. When the vehicle is moving slowly, images are extracted from the video stream at a slower frequency, which can reduce the number of extracted image frames, thereby reducing storage and computational overhead.

[0066] In combination with the tenth aspect, in certain implementations of the tenth aspect, obtaining a first group of images from a video stream includes: when the similarity between a previous frame image and a subsequent frame image in two adjacent frames of images in the video stream is less than or equal to a similarity threshold, extracting the subsequent frame image as one of the images in the first group of images.

[0067] In the above technical solution, images are extracted from the video stream based on image similarity, avoiding obtaining multiple frames of images with high similarity, which helps to reduce storage overhead and computing overhead.

[0068] In combination with the tenth aspect, in certain implementations of the tenth aspect, the method further includes: when the signal of the first sensor of the vehicle is blocked, controlling the second camera device of the vehicle to collect a video stream, the video stream collected by the second camera device is used to determine the first area, and the first sensor is a satellite positioning sensor.

[0069] In some implementations, when a signal from a first sensor of the vehicle is blocked, a second sensor of the vehicle is controlled to collect signals.

[0070] In the above technical solution, when the signal of the satellite positioning sensor is blocked, the video stream for determining the area where the vehicle is located is collected, which helps to save power consumption in the process of determining the parking area.

[0071] In the eleventh aspect, a device for determining a parking area is provided, the device including an acquisition unit and a processing unit. Specifically, the acquisition unit is used to: acquire a first group of images, the first group of images including at least one image of a first parking space and at least one image of a first area where the first parking space is located in a first building; the processing unit is used to: delete at least one image of the first parking space when the first parking space is not the target parking space for the vehicle.

[0072] In combination with the eleventh aspect, in certain implementations of the eleventh aspect, the device also includes a first sending unit, and the processing unit is further used to: when the first parking space is the target parking space for the vehicle, determine first parking information based on the first group of images, the first parking information indicating the position of the first parking space in the first building; the first sending unit is used to: send the first parking information to the electronic device, and the electronic device is associated with the vehicle.

[0073] In combination with the eleventh aspect, in certain implementations of the eleventh aspect, the first parking information includes a first image of the first parking space, or the first parking information is determined based on the first image, and the first image includes the parking space number of the first parking space. The processing unit is also used to: when the first parking space is the target parking space for the vehicle, delete other images except the first image in at least one image of the first parking space.

[0074] In combination with the eleventh aspect, in certain implementations of the eleventh aspect, the first sending unit is used to: send first parking information to the electronic device when the vehicle is parked in the first parking space; or, when the vehicle is not parked in the first parking space, send the first parking information to the electronic device when it is detected that the vehicle is parked and not powered off, and the driver in the vehicle leaves the vehicle and the door is closed; or, send the first parking information to the electronic device while the vehicle is in the process of parking in the first parking space.

[0075] In combination with the eleventh aspect, in certain implementations of the eleventh aspect, the processing unit is further used to: determine that the first parking space is not the target parking space when the distance moved by the vehicle between the first conversion and the second conversion of the vehicle's gear position is greater than or equal to a first threshold; wherein the time when the first conversion occurs is earlier than the time when the second conversion occurs.

[0076] In combination with the eleventh aspect, in certain implementations of the eleventh aspect, the processing unit is further used to: between the third conversion and the fourth conversion of the vehicle's gear position, the distance moved by the vehicle is less than or equal to the second threshold, and the distance between the vehicle and the first parking space is less than or equal to the third threshold when the gear position undergoes the fourth conversion, determining that the first parking space is the target parking space; wherein the time when the third conversion occurs is earlier than the time when the fourth conversion occurs.

[0077] In combination with the eleventh aspect, in certain implementations of the eleventh aspect, the distance moved by the vehicle is determined based on at least one of the following: the difference in latitude and longitude of the vehicle between two gear changes, or the duration and wheel speed of the vehicle between two gear changes.

[0078] In combination with the eleventh aspect, in certain implementations of the eleventh aspect, the acquisition unit is further used to: obtain first sensor information, the first sensor information is information collected by the second sensor between a first moment and a second moment, the first moment is the moment when the vehicle enters the first building, the second moment is the moment when the vehicle drives to the second area in the first building, and the second sensor is a non-satellite positioning sensor; the processing unit is further used to: determine the latitude, longitude and / or altitude of the second area based on the first sensor information.

[0079] In combination with the eleventh aspect, in certain implementations of the eleventh aspect, the second area includes a first parking space, and the device also includes a second sending unit for: sending location information to the cloud server, the location information including the latitude and longitude and / or altitude of the second area, and the first parking space information.

[0080] In combination with the eleventh aspect, in certain implementations of the eleventh aspect, the second area includes a fourth parking space, and the processing unit is further used to: determine the information of the fourth parking space based on the parking space association information and the latitude, longitude and / or altitude of the second area, the information of the fourth parking space indicating at least one of the following: the parking space number of the fourth parking space, or the position of the fourth parking space in the first building; wherein the parking space association information indicates the association relationship between the latitude, longitude and / or altitude of the parking space and at least one of the following: the parking space number of the parking space, or the association relationship between the position of the parking space in the first building.

[0081] In combination with the eleventh aspect, in certain implementations of the eleventh aspect, the acquisition unit is used to: acquire a first group of images from the video stream based on at least one of the speed of the vehicle, the distance traveled by the vehicle, or the similarity between two adjacent frames of images in the video stream captured by the first camera device of the vehicle.

[0082] In combination with the eleventh aspect, in certain implementations of the eleventh aspect, the acquisition unit is used to: acquire a first group of images from the video stream at a first frame extraction frequency when the vehicle is traveling at a first speed; acquire a first group of images from the video stream at a second frame extraction frequency when the vehicle is traveling at a second speed; wherein the first speed is greater than the second speed, and the first frame extraction frequency is greater than the second frame extraction frequency.

[0083] In combination with the eleventh aspect, in certain implementations of the eleventh aspect, the acquisition unit is used to: when the similarity between the previous frame image and the next frame image in two adjacent frames of images in the video stream is less than or equal to a similarity threshold, extract the next frame image as one of the images in the first group of images.

[0084] In combination with the eleventh aspect, in certain implementations of the eleventh aspect, the processing unit is used to: when the signal of the first sensor of the vehicle is blocked, control the second camera device of the vehicle to collect a video stream, the video stream collected by the second camera device is used to determine the first area, and the first sensor is a satellite positioning sensor.

[0085] In a twelfth aspect, a device for determining a parking area is provided, the device comprising: a processor for executing a computer program stored in the memory so that the device executes the method in any possible implementation of the tenth aspect.

[0086] In combination with the twelfth aspect, in certain implementations of the twelfth aspect, the control device also includes a memory.

[0087] In a thirteenth aspect, a vehicle is provided, comprising a device as in any possible implementation of aspects eleven to twelfth.

[0088] In the fourteenth aspect, a computer program product is provided, comprising: a computer program code, which, when the computer program code runs on a computer or a processor, enables the computer or the processor to execute the method in any possible implementation of the tenth aspect.

[0089] It should be noted that the above-mentioned computer program code may be stored in whole or in part on a storage medium, wherein the storage medium may be packaged together with the processor or separately from the processor.

[0090] In the fifteenth aspect, a computer-readable medium is provided, wherein the computer-readable medium stores instructions. When the instructions are executed by a processor, the processor implements the method in any possible implementation of the tenth aspect.

[0091] In a sixteenth aspect, a chip is provided, which includes a circuit for executing the method in any possible implementation of the tenth aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0092] FIG1 is a functional block diagram of an intelligent driving device provided in an embodiment of the present application;

[0093] FIG2 is a schematic flowchart of a method for determining a parking area provided in an embodiment of the present application;

[0094] FIG3 is another schematic flowchart of a method for determining a parking area provided in an embodiment of the present application;

[0095] FIG4 is a schematic diagram of an application scenario provided by an embodiment of the present application;

[0096] FIG5 is another schematic flowchart of a method for determining a parking area provided in an embodiment of the present application;

[0097] FIG6 is another schematic flowchart of a method for determining a parking area provided in an embodiment of the present application;

[0098] FIG7 is a schematic diagram of a parking lot provided in an embodiment of the present application;

[0099] FIG8 is a schematic diagram of a system architecture provided in an embodiment of the present application;

[0100] FIG9 is another schematic flowchart of a method for determining a parking area provided in an embodiment of the present application;

[0101] FIG10 is a schematic block diagram of an apparatus for determining a parking area according to an embodiment of the present application;

[0102] FIG11 is another schematic block diagram of an apparatus for determining a parking area according to an embodiment of the present application;

[0103] FIG12 is a schematic block diagram of a system for determining a parking area according to an embodiment of the present application;

[0104] FIG13 is another schematic flowchart of the method for determining a parking area provided in an embodiment of the present application. DETAILED DESCRIPTION

[0105] The technical solution in this application will be described below with reference to the accompanying drawings.

[0106] FIG1 is a functional block diagram of an intelligent driving device provided in an embodiment of the present application. As shown in FIG1 , the intelligent driving device 100 may include a perception system 120 and a computing platform 150, wherein the perception system 120 may include several sensors for sensing information about the environment surrounding the intelligent driving device 100. For example, the perception system 120 may also include a positioning system, which may be a global positioning system (GPS), a BeiDou system, or other positioning systems. For another example, the perception system 120 may also include one or more of an inertial measurement unit (IMU), a lidar, a millimeter-wave radar, an ultrasonic radar, and a camera. In the present application, the camera may include, but is not limited to, a fisheye camera, a wide-angle camera, a red, green, and blue / infrared (RGB / IR) camera, or a depth camera, such as a time of flight (TOF) camera, a binocular camera, a structured light camera, etc. According to the arrangement position, the camera may include a front-view camera, a rear-view camera, a side-view camera, etc.

[0107] Some or all functions of the intelligent driving device 100 can be controlled by a computing platform 150. The computing platform 150 may include processors 151 to 15n. A processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with the ability to read and execute instructions, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), or a digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. The logical relationships of the hardware circuits are fixed or reconfigurable. For example, the processor is a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field programmable gate array (FPGA). In a reconfigurable hardware circuit, the process of the processor loading a configuration file to implement the hardware circuit configuration can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, the processor may also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc. In addition, the computing platform 150 may also include a memory for storing instructions, and some or all of the processors 151 to 15n may call the instructions in the memory to implement corresponding functions.

[0108] The intelligent driving devices involved in the embodiments of the present application may include road vehicles, water vehicles, air vehicles, industrial equipment, agricultural equipment, or entertainment equipment, etc. For example, the intelligent driving device may be a vehicle, which is a vehicle in a broad sense and may be a transportation vehicle (such as a commercial vehicle, a passenger car, a motorcycle, a flying car, a train, etc.), an industrial vehicle (such as a forklift, a trailer, a tractor, etc.), an engineering vehicle (such as an excavator, a bulldozer, a crane, etc.), agricultural equipment (such as a lawn mower, a harvester, etc.), amusement equipment, a toy vehicle, etc. The embodiments of the present application do not specifically limit the type of vehicle.

[0109] Exemplarily, the computing platform 150 may include at least one of the following domain controllers: a vehicle domain controller (VDC), an advanced driving domain controller (ADC), and a cockpit domain controller (CDC). Alternatively, the computing platform 150 may also include any one of an in-car application-server (ICAS) controller, a body domain controller (BDC), a special equipment system (SAS), a media graphics unit (MGU), a body super core (BSC), and an advanced driving assistant system super core (ADAS super core), which is not limited in this application. The ICAS may include at least one of the following: a vehicle control server ICAS1, an intelligent driving server ICAS2, an intelligent cockpit server ICAS3, and an infotainment server ICAS4. Alternatively, the computing platform 150 may also include a vehicle central computer (VCC).

[0110] The following describes the solution provided in the embodiments of the present application using an intelligent driving device as a vehicle.

[0111] FIG2 shows a schematic flow chart of a method for determining a parking area provided by an embodiment of the present application. The method 200 shown in FIG2 can be executed by the computing platform 150 shown in FIG1. ​​Specifically, the method 200 may include:

[0112] S210 , when the speed of the vehicle is less than or equal to a speed threshold and the signal strength of the first sensor is less than or equal to a first strength threshold, controlling the camera device of the vehicle to capture images, where the first sensor is a satellite positioning sensor.

[0113] Exemplarily, the first sensor may be a global navigation satellite system (GNSS), or the first sensor may be another satellite positioning sensor that uses satellite positioning. GNSS may include at least one of the following: GPS, global navigation satellite system (GLONASS), Beidou navigation satellite system (BDS), quasi-zenith satellite system (QZSS), or satellite-based augmentation system (SBAS).

[0114] When the speed of the vehicle is less than or equal to the speed threshold and the signal strength of the first sensor is less than or equal to the first strength threshold, it can be considered that the vehicle has entered the underground parking lot.

[0115] In some implementations, the camera captures a video stream and extracts one or more frames of images from the video stream for storage. The one or more frames of images are the images captured by the camera. In view of this, S210 can be further refined into S211 and S212 as shown in FIG3 :

[0116] S211, determining a frame extraction frequency according to the vehicle speed and / or the vehicle travel distance.

[0117] For example, if the vehicle speed is faster, the frame extraction frequency is increased, and if the vehicle speed is slower, the frame extraction frequency is reduced.

[0118] For example, determining the frame extraction frequency based on the vehicle's travel distance may include extracting a frame of image from the video stream every time the vehicle travels a preset distance, where the preset distance may be, for example, 1 meter, 2 meters, or other distances.

[0119] S212: extracting images from the video stream captured by the camera device according to the frame extraction frequency.

[0120] It is understood that when the vehicle stops, images may no longer be extracted from the video stream.

[0121] S220, determining information about the parking position of the vehicle based on the image captured by the camera device, the information about the parking position of the vehicle including area information and / or parking space information, wherein the area information indicates the location of the building including the parking space where the vehicle is parked, and the parking space information indicates the location of the parking space where the vehicle is parked in the building.

[0122] In some implementations, the area information indication includes the location of the building where the vehicle is parked. For example, if the building is xx Building, located at No. xx, xx Road, xx District, xx City, then the area information may be the location of xx Building, that is, "No. xx, xx Road, xx District, xx City"; or, the area information may also indicate the location of the building and the floor on which the vehicle is located in the building. For example, if the vehicle is located at the basement level (B1) of xx Building, then the area information may also be the floor on which the vehicle is located in xx Building, that is, "B1 Floor, xx Building, No. xx, xx Road, xx District, xx City".

[0123] In some implementations, the parking space information indicates the location of the parking space where the vehicle is parked in the building, and may include: the parking space information includes the floor number, area number and parking space number of the parking space, for example, if the parking space is parking space 203 in area B on the B1 floor of the xx building, the parking space information may be "parking space 203 in area B on the B1 floor"; or, when the area information indicates the floor where the vehicle is located in the building, the parking space information may also only include the area number and parking space number of the parking space, for example, if the parking space is parking space 203 in area B on the B1 floor of the xx building, the parking space information may be "parking space 203 in area B".

[0124] In some implementations, controlling the vehicle's camera device to capture images may include: controlling the front-view camera and / or side-view camera to capture a first type of image, and controlling the rear-view camera to capture a second type of image. Furthermore, determining the vehicle's parking location information based on the images captured by the camera device may include: determining area information based on the first type of image, determining parking space information based on the second type of image, and determining the vehicle's parking location information based on the area information and the parking space information.

[0125] It is understandable that collecting images through different camera devices helps to reduce visual blind spots, lower the probability of misdetermination or incorrect determination of the vehicle position, and improve the robustness of the method for determining the parking area provided in this application.

[0126] Exemplarily, (a) to (d) in FIG4 show some examples of the first category of images.

[0127] It should be noted that, in the embodiment of the present application, the area information may also be determined by information such as altitude, air pressure, geomagnetism, and wireless fidelity (Wi-Fi) signals.

[0128] Optionally, the method 200 further includes S230: sending information about the parking location of the vehicle to an electronic device, where the electronic device is associated with the vehicle.

[0129] It should be noted that, in the present application, the association between an electronic device and a vehicle may include: the account used to log in to the electronic device and the vehicle is the same; or, although the account used to log in to the electronic device and the vehicle is different, both are accounts of authorized users of the vehicle; or, the electronic device is authorized by the authorized user of the vehicle, thereby establishing an association relationship between the vehicle and the electronic device.

[0130] In some implementations, S230 is executed when at least one of the following is detected: the vehicle gear is in the parking gear, the driver of the vehicle leaves the vehicle, the vehicle is powered off, and the vehicle doors are locked.

[0131] Furthermore, after receiving the information about the parking location of the vehicle, the electronic device may display relevant information to remind the user of the vehicle where the vehicle is parked.

[0132] FIG5 shows another schematic flow chart of a method for determining a parking area provided by an embodiment of the present application. The method 300 shown in FIG5 can be executed by the computing platform 150 shown in FIG1. ​​Specifically, the method 300 may include:

[0133] S310, acquiring an image associated with a first parking space, and determining first parking information based on the image associated with the first parking space, where the first parking information includes first area information and / or first parking space information, and the first parking space is a target parking space for the vehicle within a first time period.

[0134] The first area information indicates the location of a first building including the first parking space, and the first parking space information indicates the location of the first parking space in the first building.

[0135] For example, the image associated with the first parking space can be understood as: an image captured during the process of driving to and / or parking in the first parking space. The method for capturing the image associated with the first parking space can be referred to the description in method 200 and will not be repeated here.

[0136] S320: When it is detected that the vehicle has shifted into a first gear, and the distance moved by the vehicle between the first gear shift and the second gear shift is greater than or equal to a first distance threshold, delete the image associated with the first parking space.

[0137] The second gear shift occurs earlier than the first gear shift.

[0138] In some implementations, the image associated with the first parking space is stored in a storage device of the vehicle, and deleting the image associated with the first parking space includes: deleting the image associated with the first parking space stored in the storage device of the vehicle.

[0139] In some implementations, the first gear shift may be a vehicle shift from reverse gear to drive gear, and the second gear shift may be a vehicle shift from reverse gear to drive gear. The first gear shift and the second gear shift may be two identical gear shifts that are closest to each other. That is, other gear shifts may occur between the first gear shift and the second gear shift, but none of the other gear shifts are of a type other than "switching from reverse gear to drive gear." For example, each time the vehicle shifts from reverse gear to drive gear, the vehicle's current location information is recorded. For example, the location information may be latitude and longitude information.

[0140] In some further implementations, the first gear shift and the second gear shift may be two adjacent gear shifts, i.e., no other gear shift occurs between the first gear shift and the second gear shift. In this case, the first gear shift and the second gear shift may be different types of gear shifts. For example, the first gear shift may be a shift from a driving gear to a reverse gear, and the second gear shift may be a shift from a reverse gear to a driving gear. For example, each time the vehicle performs a gear shift, the vehicle's current position information is recorded.

[0141] For example, the distance traveled between the first gear shift and the second gear shift can be calculated based on the position information recorded during the two gear shifts. The position information recorded during the gear shifts can include at least one of the following: altitude, longitude and latitude, or satellite positioning information. For example, the distance traveled between the first gear shift and the second gear shift can also be determined based on the vehicle's wheel speed and the duration between the two gear shifts.

[0142] In some implementations, after executing S310, the method may further include: sending first parking information to the electronic device when it is detected that the vehicle has shifted to the third gear and the distance moved by the vehicle between the third gear shift and the second gear shift is less than or equal to a second distance threshold, and the time when the second gear shift occurs is earlier than the time when the third gear shift occurs.

[0143] Exemplarily, the electronic device is associated with a vehicle.

[0144] For example, the third gear shift can be from reverse gear to parking gear, or from drive gear to parking gear. The method for determining the distance moved between the third gear shift and the second gear shift can refer to the description in the above embodiment and will not be repeated here.

[0145] Optionally, after executing S320, the method further includes S330: acquiring an image associated with a second parking space, determining second parking information based on the image associated with the second parking space, the second parking space being the target parking space for the vehicle within a second time period, and the start time of the second time period being equal to or later than the end time of the first time period.

[0146] The second parking information includes second area information and / or second parking space information, the second area information indicates the location of the first building including the second parking space, and the second parking space information indicates the location of the second parking space in the first building.

[0147] For example, the image associated with the second parking space can be understood as: an image captured during the process of driving to and / or parking in the second parking space. The method for capturing the image associated with the second parking space can be referred to the description of method 200 and will not be repeated here.

[0148] In some implementations, after executing S330, the method further includes: sending second parking information to the electronic device.

[0149] In the embodiment of the present application, the timing of sending the first parking information and / or the second parking information to the electronic device can refer to the description in method 200, and the method of obtaining the image associated with the first parking space can refer to the description in method 200, which will not be repeated here.

[0150] During the parking process, due to the different parking difficulties of parking spaces, multiple parking spaces may be selected as target parking spaces in succession. The method for determining the parking area provided in the embodiment of the present application is aimed at the above situation. It can only send the parking information of the parking space where the vehicle is finally parked to the electronic device, and can clear the locally stored images associated with other parking spaces, which can save the vehicle's storage overhead.

[0151] FIG6 shows another schematic flow chart of a method for determining a parking area provided by an embodiment of the present application. The method 400 shown in FIG6 can be executed by the computing platform 150 shown in FIG1. ​​Specifically, the method 400 may include:

[0152] During the parking process, due to the different parking difficulties of parking spaces, multiple parking spaces may be selected as target parking spaces in succession. The method for determining the parking area provided in the embodiment of the present application is aimed at the above situation. It can only send the parking information of the parking space where the vehicle is finally parked to the electronic device, and can clear the locally stored images associated with other parking spaces, which can save the vehicle's storage overhead.

[0153] FIG6 shows another schematic flow chart of a method for determining a parking area provided by an embodiment of the present application. The method 400 shown in FIG6 can be executed by the computing platform 150 shown in FIG1. ​​Specifically, the method 400 may include:

[0154] S410, obtaining first positioning information and information from a second sensor of the vehicle within a third time period, wherein the first positioning information is determined based on the first positioning signal, and is a signal obtained when the signal strength of the third sensor of the first positioning signal is less than or equal to a second strength threshold. The start time of the third time period is the time when the first positioning signal is obtained, and the end time of the third time period is the time when the vehicle stops in the third parking space. The second sensor is a non-satellite positioning sensor, and the third sensor is a satellite positioning sensor.

[0155] For example, the second sensor may include an IMU and / or a wheel speed sensor, or other sensors that do not rely on satellite positioning. The third sensor may be a GNSS, or other satellite positioning sensors that rely on satellite positioning.

[0156] Exemplarily, the first positioning signal may be the positioning signal collected last time before the signal of the third sensor disappears.

[0157] S420: Determine first position information of the third parking space based on the first positioning information and information from the second sensor, where the first position information indicates the latitude, longitude and / or altitude of the third parking space.

[0158] In some implementations, the method further includes S430 and S440. S430 includes: acquiring an image associated with the third parking space, and determining area information and / or parking space information of the third parking space based on the image associated with the third parking space.

[0159] For example, the method for acquiring an image associated with the third parking space and the method for determining the area information and / or parking space information of the third parking space can be described in method 200. For example, the third parking space can be the second parking space in method 300, i.e., the parking space where the vehicle is finally parked.

[0160] S440 includes: sending information about the third parking space to the cloud server, where the information about the third parking space includes the latitude and longitude and / or altitude of the third parking space, as well as area information and / or parking space information of the third parking space.

[0161] For example, the area information in S430 indicates the location of the second building including the third parking space, and the parking space information indicates the location of the third parking space in the second building.

[0162] In some implementations, the vehicle may also feed back landmark information in the second building to the cloud server, such as location information corresponding to charging piles and payment codes in the second building.

[0163] The cloud server can obtain location information (latitude, longitude, and altitude) and area information / or parking space information from multiple vehicles in the second building, and establish an association between the point (or area) indicated by the location information and the area information / or parking space information in the second building based on the above information. In some implementations, the cloud server can improve the relevant information in the second building by collecting dotted data and crowdsourced data. For example, the cloud server can create a model diagram of the second building as shown in Figure 7 based on the above information. In this way, after a vehicle enters the second building and parks in a parking space, the vehicle can send the location information of its parking space to the cloud server, and the cloud server can determine the area information and / or parking space information of the parking space based on the above location information. In other words, if the vehicle does not have a high-definition camera device, or the vehicle's camera device is damaged or limited, making it impossible for the vehicle to determine the area information and / or parking space information of its parking space through image recognition, the vehicle can also determine and / or obtain the area information and / or parking space information of the vehicle's parking space by feeding back the location information to the cloud server. Furthermore, the cloud server may send the area information and / or parking space information of the vehicle parking space to an electronic device associated with the vehicle.

[0164] It should be noted that the method for determining the position information in S410 and S420 can also be applied to S320 to determine the position information recorded during the gear shift.

[0165] In some implementations, when a vehicle enters a second building multiple times, the vehicle can build a local database for the second building. The local database includes an association between a point (or area) indicated by the location information and the area information and / or parking space information in the second building. In this way, when the vehicle re-enters the second building and parks at a previously parked location, only the location information can be determined, and then the area information and / or parking space information of the parking location can be determined based on the location information and the local database. Furthermore, the vehicle can send the area information and / or parking space information of the parking location to an electronic device associated with the vehicle.

[0166] In some implementations, after the electronic device receives the area information and / or parking space information of the vehicle's parking location, it can generate a navigation path from the current location of the electronic device to the vehicle's parking location to provide navigation for the user.

[0167] FIG9 shows another flow chart of the method for determining the parking area provided by an embodiment of the present application. As shown in FIG9 , the vehicle's computing platform can use the extravehicular camera as an input source to perform region recognition and text recognition on the images captured by the extravehicular camera. The recognition results are fused and filtered in the post-processing algorithm, and finally the region information is uploaded to the application (APP) on the user's mobile phone. Combined with the real-time latitude and longitude information in the parking lot, a bicycle historical trajectory information library is established, and the data is uploaded to the cloud database. The cloud database is improved by collecting dotted data and crowdsourcing data. Subsequent parking scenarios directly send the region information to the APP on the user's mobile phone through the latitude and longitude information. This application combines the latitude and longitude and region information to navigate and guide the user to the corresponding parking space through the APP on the user's mobile phone.

[0168] In the various embodiments of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between the various embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0169] The above description of the method for determining parking areas provided by the embodiments of the present application is described in detail with reference to Figures 1 to 9 . The following description of the apparatus for determining parking areas provided by the embodiments of the present application is described with reference to Figures 10 and 11 . It should be understood that the description of the apparatus embodiment corresponds to the description of the method embodiment. Therefore, for matters not described in detail, reference can be made to the method embodiment above and, for the sake of brevity, will not be repeated here.

[0170] FIG10 shows a schematic block diagram of an apparatus 2000 for determining a parking area according to an embodiment of the present application. The apparatus 2000 may include units for executing methods 200, 300, and 400. Furthermore, the units in the apparatus 2000 implement the corresponding processes of the method embodiments of methods 200, 300, and 400.

[0171] The apparatus 2000 includes an acquisition unit 2010 and a processing unit 2020. When the apparatus 2000 is used to execute the method 300, the acquisition unit 2010 is configured to acquire an image associated with a first parking space. The processing unit 2020 is configured to determine first parking information based on the image associated with the first parking space. The first parking information includes first area information and / or second parking space information. The first parking space is a target parking space for a vehicle within a first time period. The first area information indicates a location of a first building including the first parking space, and the first parking space information indicates a location of the first parking space within the first building. The processing unit 2020 is also used to: when it is detected that the vehicle has shifted into a first gear, and the distance moved by the vehicle between the first gear shift and the second gear shift is greater than or equal to a first distance threshold, delete the image associated with the first parking space, and the time when the second gear shift occurs is earlier than the time when the first gear shift occurs; or, when it is detected that the vehicle has shifted into a third gear, and the distance moved by the vehicle between the third gear shift and the second gear shift is less than or equal to a second distance threshold, control the sending of first parking information to the electronic device, the time when the second gear shift occurs is earlier than the time when the third gear shift occurs, and the electronic device is associated with the vehicle.

[0172] In some implementations, the acquisition unit 2010 is further used to: acquire an image associated with the second parking space, and the processing unit 2020 is used to: determine second parking information based on the image associated with the second parking space, the second parking information including second area information and / or second parking space information, the second parking space being the target parking space for the vehicle within the second time length; wherein the starting time of the second time length is equal to or later than the ending time of the first time length, the second area information indicates the location of the first building, and the second parking space information indicates the location of the second parking space in the first building.

[0173] In some implementations, the processing unit 2020 is further configured to: control sending of second parking information to the electronic device.

[0174] In some implementations, the processing unit 2020 is further used to: before the acquisition unit 2010 acquires the image associated with the first parking space, when the speed of the vehicle is less than or equal to the speed threshold and the signal strength of the first sensor is less than or equal to the first intensity threshold, control the vehicle's camera device to capture a video stream, the video stream including the image associated with the first parking space, and the first sensor is a satellite navigation sensor.

[0175] In some implementations, the processing unit 2020 is configured to: determine a frame rate based on the speed of the vehicle and / or the distance traveled by the vehicle; and the acquisition unit is configured to acquire an image associated with the first parking space from the video stream based on the frame rate.

[0176] When the device 2000 is used to execute method 400, the acquisition unit 2010 is used to: obtain first positioning information and information of the second sensor of the vehicle within a third time period, wherein the first positioning information is determined based on the first positioning signal, and the signal is obtained when the signal strength of the third sensor of the first positioning signal is less than or equal to the second strength threshold, the starting time of the third time period is the time when the first positioning signal is obtained, and the ending time of the third time period is the time when the vehicle stops in the third parking space, the second sensor is a non-satellite positioning sensor, and the third sensor is a satellite positioning sensor; the processing unit 2020 is used to: determine the first position information of the third parking space based on the first positioning information and the information of the second sensor, and the first position information indicates the latitude, longitude and / or altitude of the third parking space.

[0177] In some implementations, the acquisition unit 2010 is further used to: acquire an image associated with the third parking space, determine the area information and / or parking space information of the third parking space based on the image associated with the third parking space, the area information indicates the location of the second building including the third parking space, and the parking space information indicates the location of the third parking space in the second building; the processing unit 2020 is further used to: control the sending of information about the third parking space to the cloud server, the information about the third parking space includes the latitude, longitude and / or altitude of the third parking space, as well as the area information and / or parking space information of the third parking space.

[0178] In some implementations, the processing unit 2020 is further used to: send first location information to a cloud server, where the first location information is used to determine the location of the building containing the third parking space and / or the location of the third parking space in the building.

[0179] Exemplarily, the acquisition unit 2010 and the processing unit 2020 may be provided in the intelligent driving device shown in FIG1 . More specifically, the acquisition unit 2010 and the processing unit 2020 may be provided in the computing platform 150 . Exemplarily, the operations performed by the acquisition unit 2010 and the processing unit 2020 may be performed by a single processor, or by different processors. In a specific implementation, the one or more processors may be provided in the intelligent driving device 100 shown in FIG1 . The apparatus 2000 may be a chip provided in the intelligent driving device 100 .

[0180] In a specific implementation process, the various units in the above apparatus may be fully or partially integrated together, or may also be implemented independently. In one implementation, these units are integrated together and implemented in the form of a system-on-a-chip (SoC).

[0181] FIG11 is another schematic block diagram of an apparatus for determining a parking area provided in an embodiment of the present application. The apparatus 2100 shown in FIG11 may include a processor 2110, a transceiver 2120, and a memory 2130. The processor 2110, the transceiver 2120, and the memory 2130 are connected via an internal connection path. The memory 2130 is configured to store instructions, and the processor 2110 is configured to execute the instructions stored in the memory 2130 to implement the methods described in the aforementioned embodiments. Optionally, the memory 2130 may be coupled to the processor 2110 via an interface or may be integrated with the processor 2110.

[0182] It should be noted that the transceiver 2120 may include but is not limited to a transceiver device such as an input / output interface to implement communication between the device 2100 and other devices or a communication network.

[0183] Memory 2130 may be a volatile memory and / or a non-volatile memory. The non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM). For example, RAM may be used as an external cache. By way of example and not limitation, RAM includes the following forms: static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).

[0184] The transceiver 2120 uses a transceiver device such as but not limited to a transceiver to implement communication between the device 2110 and other devices or communication networks to receive / send data / information used to implement the methods in the above embodiments.

[0185] FIG13 shows a schematic flow chart of a method for determining a parking area provided by an embodiment of the present application. The method 1300 shown in FIG13 can be executed by the computing platform 150 shown in FIG1 . Specifically, the method 1300 may include:

[0186] S1310: Acquire a first group of images, where the first group of images includes at least one image of a first parking space and at least one image of a first area where the first parking space is located in a first building.

[0187] In some implementations, the image of each parking space includes a parking space number. If an image includes the parking space number of a first parking space, the image can be determined to be the image of the first parking space. The image of each area includes an area number or a floor number (such as the image shown in FIG. 4 ). The area in which the vehicle is located can be determined based on the area number or floor number included in the image.

[0188] It should be noted that the area in which the vehicle is located within the first building in this embodiment refers to a space within the first building, such as a floor or an area within a floor. The first building may be an underground parking lot, or a building that includes an underground parking lot; alternatively, the first building may be another building that includes parking spaces.

[0189] For example, the first building may include multiple areas, each of which includes one or more parking spaces, and the first area may be one of the multiple areas. In one example, the first building includes multiple floors for parking, such as the basement floor, the second basement floor, the sixth floor above ground, etc., and each floor may be considered as an area, such as "B1 floor" may be an example of the first area. For another example, a first floor of the first building is larger and is divided into multiple areas, such as Area A, Area B, Area C, etc., and each area may be considered as an area, such as "Area B" may be an example of the first area; or, "B1 floor Area B" may be an example of the first area.

[0190] For example, the at least one image of the first parking space and the at least one image of the first area are captured by different camera devices. For example, the at least one image of the first area may be captured by a front-view camera and / or a side-view camera, and the at least one image of the first parking space may be captured by a rear-view camera.

[0191] In some implementations, the first set of images is obtained from a video stream captured by one or more cameras. More specifically, the first set of images is obtained from the video stream based on at least one of a vehicle's speed, a distance traveled by the vehicle, or a similarity between two adjacent frames in the video stream captured by a first camera of the vehicle.

[0192] In one example, when a vehicle is traveling at a first speed, a first set of images is obtained from a video stream at a first frame extraction frequency; when the vehicle is traveling at a second speed, a first set of images is obtained from a video stream at a second frame extraction frequency; wherein the first speed is greater than the second speed, and the first frame extraction frequency is greater than the second frame extraction frequency.

[0193] In another example, when the similarity between the preceding and succeeding frames of two adjacent frames in the video stream is less than or equal to a similarity threshold, the succeeding frame is selected as one of the first group of images. For example, the similarity threshold may be 90%, or 95%, or other values.

[0194] For a more detailed implementation of obtaining an image from a video stream, please refer to the description of method 200, which will not be repeated here.

[0195] In some implementations, when the signal from the vehicle's first sensor is blocked, a second camera device of the vehicle is controlled to capture a video stream. The video stream captured by the second camera device is used to determine the first area. The first sensor is a satellite positioning sensor. For example, the first camera device may include a second camera device, and the second camera device may be the camera device used to capture the second type of image in method 200.

[0196] S1320: When the first parking space is not the target parking space for the vehicle, delete at least one image of the first parking space.

[0197] In some implementations, if the image includes only the first parking space, deleting the at least one image of the first parking space may include: deleting the image that includes only the first parking space. In still other implementations, if the image includes multiple parking spaces, and if the first parking space is not the target parking space and a neighboring parking space of the first parking space is not the target parking space, deleting the at least one image of the first parking space may include: deleting all images that include the first parking space; and if the first parking space is not the target parking space but a neighboring parking space of the first parking space is the target parking space, deleting all images of the at least one image of the first parking space except those that include the neighboring parking spaces of the first parking space.

[0198] In some implementations, the first parking space is determined not to be the target parking space if the distance traveled by the vehicle between a first gear shift and a second gear shift is greater than or equal to a first threshold; the first shift occurs earlier than the second shift. For example, the first shift may be the second gear shift in method 300, and the second shift may be the first gear shift in method 300. For a more detailed description of the first and second shifts, please refer to the description of method 300 and will not be repeated here. For example, the first threshold and the aforementioned first distance threshold are the same value, or the first threshold may be another value.

[0199] In some implementations, when the first parking space is the target parking space for the vehicle, first parking information is determined based on the first set of images, the first parking information indicating a position of the first parking space in the first building; the first parking information is sent to the electronic device, and the electronic device is associated with the vehicle.

[0200] In one example, the target parking space may be actively selected by the user during the automatic parking process. For example, the user selects the first parking space as the target parking space through the automatic parking interface on a mobile phone or in the vehicle.

[0201] In another example, between the third and fourth gear shifts of the vehicle, the distance moved by the vehicle is less than or equal to a second threshold, and the distance between the vehicle and the first parking space is less than or equal to the third threshold when the fourth gear shift occurs, and the first parking space is determined to be the target parking space; wherein the third shift occurs earlier than the fourth shift. Exemplarily, the third shift may be the second gear shift in method 300, and the fourth shift may be the third gear shift in method 300. For a more detailed description of the third and fourth shifts, reference may be made to the description of method 300 and will not be repeated here. Exemplarily, the second threshold and the aforementioned third distance threshold are the same value, or the first threshold may be another value; the third threshold may be 3 meters, or 2 meters, or another value; and the distance between the vehicle and the parking space may be the distance between the center point of the vehicle and the center point of the parking space.

[0202] In some implementations, the first parking information includes a first image of the first parking space, or the first parking information is determined based on the first image, and the first image includes the parking space number of the first parking space. The method further includes: when the first parking space is the target parking space for the vehicle, deleting all images other than the first image from the at least one image of the first parking space. For example, each of the at least one image of the first parking space may include the parking space number of the first parking space, and the first image may be the image with the highest confidence level for including the parking space number of the first parking space. In one example, the completeness of the parking space number in the image is correlated with the confidence level of the recognized parking space number. For example, an image containing a complete parking space number has a higher confidence level for the parking space number than an image containing a partial parking space number. In another example, the degree of distortion of the parking space number in the image is correlated with the confidence level of the recognized parking space number. For example, an image with a lesser degree of distortion has a higher confidence level for the parking space number.

[0203] In some implementations, when the first parking space is the target parking space for the vehicle, first parking information is sent to the electronic device, including: when the vehicle is parked in the first parking space, the first parking information is sent to the electronic device; or, when the vehicle has not parked in the first parking space, the first parking information is sent to the electronic device when it is detected that the vehicle is parked and not powered off, and the driver in the vehicle leaves the vehicle and the door is closed; or, when the vehicle is in the process of parking in the first parking space, the first parking information is sent to the electronic device.

[0204] In some implementations, the distance moved by the vehicle is determined based on at least one of the following: a difference in latitude and longitude between two gear shifts of the vehicle, or a duration and wheel speed of the vehicle between two gear shifts.

[0205] In one example, the distance traveled by the vehicle can be determined by combining the difference in longitude and latitude between two gear changes, the duration between the two gear changes, and the wheel speed. For example, if the vehicle maneuvers excessively when parking into the first parking space, the distance determined based on the wheel speed and the duration between the two gear changes will be too large. If the distance determined based on the wheel speed and duration is used to determine whether the first parking space is the target parking space, an error may result. It is understandable that if the vehicle maneuvers excessively when parking into the first parking space, the change in longitude and latitude of the vehicle's location will not be too significant. Therefore, combining the difference in longitude and latitude with the distance determined based on the wheel speed to determine the distance traveled by the vehicle can help improve the accuracy of the determined distance traveled by the vehicle.

[0206] In some implementations, first sensor information is obtained, where the first sensor information is information collected by a second sensor between a first moment and a second moment, where the first moment is the moment when the vehicle enters the first building, and the second moment is the moment when the vehicle drives to the second area in the first building, and the second sensor is a non-satellite positioning sensor; based on the first sensor information, the latitude, longitude and / or altitude of the second area are determined.

[0207] For example, the vehicle is determined to have entered the first building when a visual sensor (e.g., a camera) detects the vehicle passing through a gate and entering the parking area. Alternatively, the vehicle is determined to have entered the first building when the strength of the satellite positioning signal is less than or equal to a signal strength threshold (e.g., the aforementioned second strength threshold). For more specific methods for determining the moment when the vehicle enters the first building, please refer to the description of method 400 and will not be repeated here.

[0208] In some implementations, the method further includes: transmitting location information to a cloud server, the location information including the latitude, longitude, and / or altitude of the second area and the first parking space information. For example, the cloud server may construct map information of the first building based on the location information obtained from the multiple vehicles. For more detailed implementation, please refer to the description of the cloud server constructing a model map of the second building in method 400, which is not further described here.

[0209] In some implementations, the second area includes a fourth parking space, and the method further includes: determining information about the fourth parking space based on the parking space association information and the latitude, longitude and / or altitude of the second area, the information about the fourth parking space indicating at least one of the following: the parking space number of the fourth parking space, or the position of the fourth parking space in the first building; wherein the parking space association information indicates an association relationship between the latitude, longitude and / or altitude of the parking space and at least one of the following: the parking space number of the parking space, or the position of the parking space in the first building.

[0210] In one example, the parking space association relationship information may be constructed by the vehicle itself. For example, the vehicle may establish an association relationship between the area where the parking space is located and / or the parking space number and the latitude, longitude and / or altitude of the parking space based on the latitude, longitude and / or altitude of the parking space perceived from the acquired image of the parking space. For the specific implementation of the vehicle determining the parking space association relationship information, reference may be made to the description of the vehicle constructing a local database for the second building in method 400, which will not be repeated here. In another example, the parking space association relationship information may be obtained by the vehicle from a cloud server. For the specific implementation of the cloud server determining the parking space association relationship information, reference may be made to the description of the cloud server establishing a model diagram of the second building in method 400, which will not be repeated here.

[0211] The method for determining a parking area provided in an embodiment of the present application deletes the image containing the first parking space when the first parking space is not the target parking space, thereby reducing the memory overhead required for determining the parking area for the vehicle. Furthermore, while deleting the image containing the first parking space, the image of the first area is not deleted, allowing the vehicle to select the most confident image from multiple images of the first area, and then determine the first area based on the most confident image. The most confident image or information about the determined first area is then sent to an electronic device associated with the vehicle, facilitating the user's search for the vehicle and improving the success rate of finding the vehicle.

[0212] It should be noted that the method shown in FIG13 can be performed by the apparatus shown in FIG10 . The acquisition unit 2010 in apparatus 2000 can be used to implement the corresponding data acquisition or transceiver functions in method 1300 , and the processing unit 2020 in apparatus 2000 can be used to implement the corresponding processing functions in method 1300 . The implementation of the method has been described in detail in the above-mentioned embodiment and will not be repeated here for the sake of brevity. The method shown in FIG13 can also be performed by the apparatus 2100 shown in FIG11 . For more detailed implementation, please refer to the description of the corresponding parts of FIG10 and FIG11 , and will not be repeated here.

[0213] An embodiment of the present application further provides a computing platform, which includes the device 2000 or the device 2100 in the above embodiment.

[0214] An embodiment of the present application also provides a vehicle, which includes the computing platform in the above embodiment; or, the vehicle includes the device 2000 or device 2100 in the above embodiment.

[0215] An embodiment of the present application further provides a computer program product, which includes computer program code. When the computer program code runs on a computer, the computer implements the methods in the above embodiments of the present application.

[0216] An embodiment of the present application further provides a computer-readable storage medium, which stores computer instructions. When the computer instructions are executed on a computer, the computer implements the methods in the above embodiments of the present application.

[0217] An embodiment of the present application also provides a chip, including a circuit, for executing the methods in the above embodiments of the present application.

[0218] An embodiment of the present application also provides a system, as shown in Figure 12, which includes an intelligent driving device, a cloud server and an electronic device. The intelligent driving device can send area information and / or parking space information to the electronic device, and the area information and / or parking space information can be determined by the method in the above embodiment. When the intelligent driving device cannot determine the area information and / or parking space information, the intelligent driving device can send the location information of the parking space where the vehicle is parked to the cloud server. The cloud server determines the area information and / or parking space information of the parking space where the vehicle is parked based on the location information and sends it to the electronic device and / or the intelligent driving device. The location information can be determined by the method in the above embodiment.

[0219] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0220] In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in this article is a kind of association relationship that describes associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In this application, "at least one" refers to one or more, and "more than one" refers to two or more. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0221] In the embodiments of this application, prefixes such as "first" and "second" are used only to distinguish different description objects and have no limiting effect on the position, order, priority, quantity, or content of the described objects. The use of prefixes such as ordinal numbers in the embodiments of this application to distinguish description objects does not constitute a limitation on the described objects. For a statement of the described objects, please refer to the description in the context of the claims or embodiments, and the use of such prefixes should not constitute an unnecessary limitation.

[0222] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0223] In the various embodiments of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between the various embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0224] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0225] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0226] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A method for determining a parking area, characterized in that: include: Acquire a first group of images, the first group of images comprising at least one image of a first parking space and at least one image of a first area where the first parking space is located in a first building; When the first parking space is not a target parking space for the vehicle, at least one image of the first parking space is deleted.

2. The method according to claim 1, characterized in that The method further comprises: When the first parking space is a target parking space for the vehicle, determining first parking information according to the first group of images, the first parking information indicating a position of the first parking space in the first building; The first parking information is sent to an electronic device, the electronic device being associated with the vehicle.

3. The method according to claim 2, characterized in that The first parking information includes a first image of the first parking space, or the first parking information is determined based on the first image, and the first image includes a parking space number of the first parking space. The method further includes: When the first parking space is the target parking space for the vehicle, other images except the first image in the at least one image of the first parking space are deleted.

4. The method according to claim 2 or 3, characterized in that: When the first parking space is a target parking space for the vehicle, sending the first parking information to the electronic device includes: When the vehicle is parked in the first parking space, sending the first parking information to the electronic device; or, When the vehicle is not parked in the first parking space, it is detected that the vehicle is parked and not powered off, and the driver of the vehicle leaves the vehicle and the door is closed, the first parking information is sent to the electronic device; or, During the process of the vehicle parking in the first parking space, the first parking information is sent to the electronic device.

5. The method according to any one of claims 1 to 4, characterized in that The method further comprises: When the distance moved by the vehicle is greater than or equal to a first threshold between the first conversion and the second conversion of the gear position of the vehicle, determining that the first parking space is not the target parking space; The time when the first conversion occurs is earlier than the time when the second conversion occurs.

6. The method according to any one of claims 1 to 5, characterized in that The method further comprises: between the third conversion and the fourth conversion of the gear position of the vehicle, the distance moved by the vehicle is less than or equal to a second threshold, and the distance between the vehicle and the first parking space when the gear position undergoes the fourth conversion is less than or equal to a third threshold, determining that the first parking space is the target parking space; The time when the third conversion occurs is earlier than the time when the fourth conversion occurs.

7. The method according to claim 5 or 6, characterized in that: The distance moved by the vehicle is determined according to at least one of the following: a difference in longitude and latitude between two gear changes of the vehicle, or a time duration and a wheel speed between two gear changes of the vehicle.

8. The method according to any one of claims 1 to 7, characterized in that The method further comprises: Acquire first sensor information, where the first sensor information is information collected by a second sensor between a first moment and a second moment, the first moment is a moment when the vehicle enters the first building, the second moment is a moment when the vehicle drives to a second area in the first building, and the second sensor is a non-satellite positioning sensor; The longitude, latitude and / or altitude of the second area are determined according to the first sensor information.

9. The method according to claim 8, characterized in that The second area includes the first parking space, and the method further includes: Sending location information to a cloud server, the location information including the latitude and longitude and / or altitude of the second area and the first parking space information.

10. The method according to claim 8 or 9, characterized in that: The second area includes a fourth parking space, and the method further includes: Determine information about the fourth parking space according to the parking space association information and the longitude and latitude and / or altitude of the second area, where the information about the fourth parking space indicates at least one of the following: a parking space number of the fourth parking space, or a position of the fourth parking space in the first building; The parking space association information indicates an association relationship between the latitude, longitude and / or altitude of the parking space and at least one of the following: an association relationship between the parking space number of the parking space, or a position of the parking space in the first building.

11. The method according to any one of claims 1 to 10, characterized in that The acquiring of the first set of images comprises: According to the speed of the vehicle, the distance traveled by the vehicle, or two adjacent frames in the video stream captured by the first camera device of the vehicle At least one of the similarities between the images, the first group of images is obtained from the video stream.

12. The method according to claim 11, characterized in that The obtaining the first group of images from the video stream comprises: When the vehicle is traveling at a first speed, acquiring the first group of images from the video stream at a first frame extraction frequency; When the vehicle is traveling at a second speed, acquiring the first group of images from the video stream at a second frame extraction frequency; The first speed is greater than the second speed, and the first frame extraction frequency is greater than the second frame extraction frequency.

13. The method according to claim 11, characterized in that Acquiring the first set of images from the video stream includes: When the similarity between a previous frame image and a subsequent frame image in two adjacent frame images in the video stream is less than or equal to a similarity threshold, the subsequent frame image is extracted as an image in the first group of images.

14. The method according to any one of claims 1 to 13, characterized in that The method further comprises: When the signal of the first sensor of the vehicle is blocked, the second camera device of the vehicle is controlled to collect a video stream, the video stream collected by the second camera device is used to determine the first area, and the first sensor is a satellite positioning sensor.

15. A device for determining a parking area, characterized in that: include: an acquisition unit, configured to acquire a first group of images, wherein the first group of images includes at least one image of a first parking space and at least one image of a first area where the first parking space is located in a first building; The processing unit is configured to delete at least one image of the first parking space when the first parking space is not a target parking space for the vehicle.

16. The device according to claim 15, characterized in that The device further includes a first sending unit, and the processing unit is further configured to: When the first parking space is a target parking space for the vehicle, determining first parking information according to the first group of images, the first parking information indicating a position of the first parking space in the first building; The first sending unit is used to send the first parking information to an electronic device, where the electronic device is associated with the vehicle.

17. The device according to claim 16, characterized in that The first parking information includes a first image of the first parking space, or the first parking information is determined according to the first image, the first image includes a parking space number of the first parking space, and the processing unit is further used for: When the first parking space is the target parking space for the vehicle, other images except the first image in the at least one image of the first parking space are deleted.

18. The device according to claim 16 or 17, characterized in that The first sending unit is used for: When the vehicle is parked in the first parking space, sending the first parking information to the electronic device; or, When the vehicle is not parked in the first parking space, it is detected that the vehicle is parked and not powered off, and the driver of the vehicle leaves the vehicle and the door is closed, sending the first parking information to the electronic device; or, During the process of the vehicle parking in the first parking space, the first parking information is sent to the electronic device.

19. The device according to any one of claims 15 to 18, characterized in that The processing unit is also used for: When the distance moved by the vehicle is greater than or equal to a first threshold between the first conversion and the second conversion of the gear position of the vehicle, determining that the first parking space is not the target parking space; The time when the first conversion occurs is earlier than the time when the second conversion occurs.

20. The device according to any one of claims 15 to 19, characterized in that The processing unit is also used for: between the third conversion and the fourth conversion of the gear position of the vehicle, the distance moved by the vehicle is less than or equal to a second threshold, and the distance between the vehicle and the first parking space when the gear position undergoes the fourth conversion is less than or equal to a third threshold, determining that the first parking space is the target parking space; The time when the third conversion occurs is earlier than the time when the fourth conversion occurs.

21. The device according to claim 19 or 20, characterized in that The distance moved by the vehicle is determined according to at least one of the following: a difference in longitude and latitude between two gear changes of the vehicle, or a time duration and a wheel speed between two gear changes of the vehicle.

22. The device according to any one of claims 15 to 21, characterized in that The acquisition unit is also used for: Acquire first sensor information, where the first sensor information is information collected by a second sensor between a first moment and a second moment, the first moment is a moment when the vehicle enters the first building, the second moment is a moment when the vehicle drives to a second area in the first building, and the second sensor is a non-satellite positioning sensor; The processing unit is further used to determine the longitude and latitude and / or altitude of the second area according to the first sensor information.

23. The device according to claim 22, characterized in that The second area includes the first parking space, and the device further includes a second sending unit, which is used to: Sending location information to a cloud server, the location information including the latitude and longitude and / or altitude of the second area and the first parking space information.

24. The device according to claim 22 or 23, characterized in that The second area includes a fourth parking space, and the processing unit is further used for: Determine information about the fourth parking space according to the parking space association information and the longitude and latitude and / or altitude of the second area, where the information about the fourth parking space indicates at least one of the following: a parking space number of the fourth parking space, or a position of the fourth parking space in the first building; The parking space association information indicates an association relationship between the latitude, longitude and / or altitude of the parking space and at least one of the following: an association relationship between the parking space number of the parking space, or a position of the parking space in the first building.

25. The device according to any one of claims 15 to 24, characterized in that The acquisition unit is used for: The first group of images is obtained from the video stream according to at least one of the speed of the vehicle, the distance traveled by the vehicle, or the similarity between two adjacent frames of images in the video stream captured by the first camera device of the vehicle.

26. The device according to claim 25, characterized in that The acquisition unit is used for: When the vehicle is traveling at a first speed, acquiring the first group of images from the video stream at a first frame extraction frequency; When the vehicle is traveling at a second speed, acquiring the first group of images from the video stream at a second frame extraction frequency; The first speed is greater than the second speed, and the first frame extraction frequency is greater than the second frame extraction frequency.

27. The device according to claim 25, characterized in that The acquisition unit is used for: When the similarity between a previous frame image and a subsequent frame image in two adjacent frame images in the video stream is less than or equal to a similarity threshold, the subsequent frame image is extracted as an image in the first group of images.

28. The device according to any one of claims 15 to 27, characterized in that The processing unit is used for: When the signal of the first sensor of the vehicle is blocked, the second camera device of the vehicle is controlled to collect a video stream, the video stream collected by the second camera device is used to determine the first area, and the first sensor is a satellite positioning sensor.

29. A device for determining a parking area, characterized in that: include: A processor, configured to execute a computer program stored in the memory, so that the apparatus performs the method according to any one of claims 1 to 14.

30. The device according to claim 29, characterized in that The apparatus also includes the memory.

31. A vehicle, characterized in that: Comprising a device as claimed in any one of claims 15 to 30.

32. A computer-readable storage medium, characterized in that: Instructions are stored thereon, and when the instructions are executed by a processor, the method according to any one of claims 1 to 14 is implemented.

33. A computer program product, characterized in that The computer program product comprises: a computer program code, and when the computer program code is executed by a processor, the method according to any one of claims 1 to 14 is implemented.

34. A chip, characterized in that: The chip comprises a circuit for executing the method according to any one of claims 1 to 14.

Images