Method and apparatus for filtering available parking space, and storage medium, electronic device and vehicle

Abstract

A method and apparatus for filtering an available parking space, and a storage medium, an electronic device and a vehicle. A user can make a selection on the basis of a comprehensive parking availableness level of each vacant parking space, instead of blind selection, and thus personalized requirements of users can be met and the user stickiness of automatic parking is improved. The method comprises: after a plurality of vacant parking spaces are found by means of parking-space searching, on the basis of surrounding environment information sensed by a target vehicle, a plurality of parking-space evaluation dimensions, and a dimension value range of each of a plurality of parking availableness levels corresponding to each parking-space evaluation dimension, determining a parking availableness level of each vacant parking space in each parking-space evaluation dimension (S110); on the basis of the parking availableness level of each vacant parking space in each parking-space evaluation dimension, determining a comprehensive parking availableness level of each vacant parking space (S120); and on the basis of the comprehensive parking availableness levels, outputting and displaying a plurality of vacant parking spaces, and determining, as a target parking space for parking, a vacant parking space selected by a user (S130).

Description

Parking space screening method and device, storage medium, electronic equipment and vehicle TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent driving, in particular to a parking space screening method and device, a storage medium, electronic equipment and a vehicle. BACKGROUND

[0002] Before the automatic parking system performs automatic parking, it needs to interact with the user, display idle parking spaces on the screen, and then let the user select a target parking space before entering the automatic parking process. However, different users want different parking space screening effects, some users want a loose parking space screening condition, even if the selected parking space has a risk of automatic parking failure, and some users want a strict parking space screening condition, so that the selected parking space can almost be parked. Therefore, this direct output of all idle parking spaces to the user for blind selection cannot meet the personalized needs of users, resulting in low user stickiness. SUMMARY

[0003] The present application provides a parking space screening method, device, storage medium, electronic equipment and vehicle, which can solve the problem that the direct output of all idle parking spaces to the user for blind selection cannot meet the personalized needs of users.

[0004] The specific technical solutions are as follows:

[0005] In a first aspect, the present application provides a parking space screening method, which comprises:

[0006] After searching for a plurality of idle parking spaces, the parking space screening method determines the parking level of each idle parking space in each parking evaluation dimension based on the surrounding environment information perceived by the target vehicle, the plurality of parking evaluation dimensions, and the dimension value range of each parking level in each parking evaluation dimension.

[0007] According to the parking level of each idle parking space in each parking evaluation dimension, the parking space screening method determines the comprehensive parking level of each idle parking space.

[0008] Based on the comprehensive parking level, the parking space screening method outputs and displays a plurality of idle parking spaces, and determines the idle parking space selected by the user as a target parking space.

[0009] According to the above scheme, after searching for multiple idle parking spaces, the embodiment of the application does not directly output to the user for blind selection, but first determines the parking level of each idle parking space in each parking evaluation dimension according to the surrounding environment information perceived by the target vehicle, the multiple parking space evaluation dimensions, and the dimension value range of each parking level corresponding to each parking evaluation dimension, then calculates the comprehensive parking level of each idle parking space, and finally outputs and displays multiple idle parking spaces according to the comprehensive parking level, so that the user can select according to the comprehensive parking level of each idle parking space without blind selection, thereby meeting the personalized needs of the user and improving the user stickiness of automatic parking.

[0010] In a possible implementation, the multiple parking space evaluation dimensions include at least two of the following:

[0011] Parking space length, parking space width, road space width, search vehicle starting distance, search vehicle ending distance, angle between the heading direction of the target vehicle and the lane heading direction, lateral distance between the target vehicle and the idle parking space;

[0012] The search vehicle starting distance is the distance from the reference point of the target vehicle to the longitudinal center line of the idle parking space when the target vehicle starts searching;

[0013] The search vehicle ending distance is the distance from the reference point of the target vehicle to the longitudinal center line of the idle parking space when the searched parking space is determined to be an idle parking space;

[0014] The lateral distance between the target vehicle and the idle parking space is the vertical distance from the reference point of the idle parking space to the center axis of the target vehicle.

[0015] In a possible implementation, when the multiple parking space evaluation dimensions include the parking space length and / or the parking space width, the surrounding environment information includes at least one of the following: position information of the parking line of the idle parking space, position information of the obstacle, and position information of the other vehicle;

[0016] Determining the parking level of each idle parking space in each parking evaluation dimension based on the surrounding environment information perceived by the target vehicle, the multiple parking evaluation dimensions, and the dimension value range of each parking level corresponding to each parking evaluation dimension includes:

[0017] For each idle parking space, the parking line of the idle parking space is acquired;

[0018] In a case where another vehicle is parked in a neighboring parking space of the idle parking space, a first parking line in the idle parking space is adjusted according to position information of the other vehicle and the parking line of the idle parking space, so that a minimum distance between the adjusted first parking line and the other vehicle is a preset distance threshold, wherein the first parking line is a parking line shared between the idle parking space and the neighboring parking space in which the other vehicle is parked;

[0019] In a case where an obstacle exists at a second parking line of the idle parking space, the second parking line in the idle parking space is adjusted so that the adjusted second parking line does not contain the obstacle, wherein the second parking line is a parking line on a side opposite to a parking entrance in the idle parking space;

[0020] A length of a quadrilateral region surrounded by the adjusted parking lines is determined as a value of the parking space length, and / or a width of the quadrilateral region surrounded by the adjusted parking lines is determined as a value of the parking space width;

[0021] The value of the parking space length is matched with a dimension value range of each of the parkable levels corresponding to the parking space length, to determine the parkable level corresponding to the value of the parking space length, and / or the value of the parking space width is matched with a dimension value range of each of the parkable levels corresponding to the parking space width, to determine the parkable level corresponding to the value of the parking space width.

[0022] It can be known from the above scheme that, in determining the parking space length and the parking space width, the embodiments of the present application do not directly take the length and width of the parking line as the parking space length and width, but re-determine the length and width of the target parking space in the actual space in combination with position information of other vehicles and obstacles around the target parking space, thereby improving the accuracy of the parkable level.

[0023] In a possible implementation, the idle parking spaces are displayed based on the comprehensive parkable level, including:

[0024] At least one idle parking space meeting a user-defined level standard is filtered out according to the comprehensive parkable level;

[0025] The filtered idle parking space is output and displayed.

[0026] It can be known from the above scheme that, by outputting and displaying only the idle parking spaces meeting the user-defined level standard, the embodiments of the present application can reduce the number of idle parking spaces to be displayed on the basis of meeting the personalized needs of the user, thereby narrowing the selection range of the user and improving the efficiency of the user in selecting a target parking space.

[0027] In a possible implementation, the comprehensive parking level of each idle parking space is determined according to the parking level of each idle parking space in each parking evaluation dimension.

[0028] For each idle parking space, the parking level of the idle parking space in each parking evaluation dimension is weighted and calculated, and the weighted result is determined as the comprehensive parking level of the idle parking space.

[0029] According to the above scheme, the parking level of each idle parking space in each parking evaluation dimension is weighted and calculated according to the importance of each parking evaluation dimension, which can improve the objectivity and accuracy of the comprehensive parking level.

[0030] In a second aspect, the embodiments of the present application provide a screening device for a parking space, the device comprising:

[0031] A first determination unit is configured to, after searching for a plurality of idle parking spaces, determine the parking level of each idle parking space in each parking evaluation dimension based on the surrounding environment information perceived by a target vehicle, a plurality of parking evaluation dimensions, and the dimension value range of each parking level corresponding to each parking evaluation dimension.

[0032] A second determination unit is configured to determine the comprehensive parking level of each idle parking space according to the parking level of each idle parking space in each parking evaluation dimension.

[0033] An output display unit is configured to output and display a plurality of idle parking spaces based on the comprehensive parking level.

[0034] A third determination unit is configured to determine the idle parking space selected by a user as a target parking space.

[0035] In a possible implementation, the plurality of parking evaluation dimensions comprises at least two of the following:

[0036] Parking space length, parking space width, road space width, search vehicle starting distance, search vehicle ending distance, angle between the heading direction of the target vehicle and the lane heading direction, and lateral distance between the target vehicle and the idle parking space.

[0037] The search vehicle starting distance is the distance from the reference point of the target vehicle to the longitudinal center line of the idle parking space when the target vehicle starts searching for a parking space.

[0038] The search vehicle ending distance is the distance from the reference point of the target vehicle to the longitudinal center line of the idle parking space when the searched parking space is determined as an idle parking space.

[0039] The lateral distance between the target vehicle and the idle parking space is a vertical distance from a reference point of the idle parking space to a center axis of the target vehicle.

[0040] In a possible implementation, when the plurality of parking space evaluation dimensions include the parking space length and / or the parking space width, the surrounding environment information includes at least one of a parking line of the idle parking space, position information of an obstacle, and position information of another vehicle.

[0041] The first determination unit includes:

[0042] The acquisition module is configured to acquire, for each idle parking space, a parking line of the idle parking space.

[0043] The adjustment module is configured to, in a case where another vehicle is parked in an adjacent parking space of the idle parking space, adjust a first parking line in the idle parking space according to position information of the another vehicle and the parking line of the idle parking space, so that a minimum distance between the adjusted first parking line and the another vehicle is a preset distance threshold, where the first parking line is a parking line shared between the idle parking space and the adjacent parking space in which the another vehicle is parked.

[0044] The adjustment module is further configured to, in a case where an obstacle exists at a second parking line of the idle parking space, adjust the second parking line in the idle parking space, so that the adjusted second parking line does not contain the obstacle, where the second parking line is a parking line on a side opposite to a parking entrance in the idle parking space.

[0045] The first determination module is configured to determine a length of a quadrilateral region surrounded by the adjusted parking line as a value of the parking space length, and / or determine a width of the quadrilateral region surrounded by the adjusted parking line as a value of the parking space width.

[0046] The second determination module is configured to match the value of the parking space length with a dimension value range of each of the parkable grades corresponding to the parking space length, to determine the parkable grade corresponding to the value of the parking space length, and / or match the value of the parking space width with a dimension value range of each of the parkable grades corresponding to the parking space width, to determine the parkable grade corresponding to the value of the parking space width.

[0047] In a possible implementation, the output display unit includes:

[0048] The screening module is configured to screen at least one idle parking space that meets a grade standard customized by a user according to the comprehensive parkable grade.

[0049] The output display module is configured to output and display the filtered idle parking spaces.

[0050] In a possible implementation, the second determining unit is configured to, for each idle parking space, perform weighted calculation on the parking levels of the idle parking space in each parking evaluation dimension, and determine the weighted result as the comprehensive parking level of the idle parking space.

[0051] According to the above solution, after searching for multiple idle parking spaces, the embodiments of the present application do not directly output the idle parking spaces to the user for blind selection, but first determine the parking level of each idle parking space in each parking evaluation dimension according to the surrounding environment information perceived by the target vehicle, the multiple parking evaluation dimensions, and the dimension value range of each parking level in the multiple parking levels corresponding to each parking evaluation dimension, then calculate the comprehensive parking level of each idle parking space, and finally output and display the multiple idle parking spaces according to the comprehensive parking level, so that the user can select according to the comprehensive parking level of each idle parking space without blind selection, thereby meeting the personalized needs of the user and improving the user stickiness of automatic parking.

[0052] In a third aspect, the embodiments of the present application provide a computer readable storage medium, which stores a computer program, and the program is executed by a processor to implement the method according to any possible implementation manner of the first aspect.

[0053] In a fourth aspect, the embodiments of the present application provide an electronic device, which comprises:

[0054] one or more processors;

[0055] The processor is coupled with a storage device, and the storage device is configured to store one or more programs;

[0056] When the one or more programs are executed by the one or more processors, the electronic device implements the method according to any possible implementation manner of the first aspect.

[0057] In a fifth aspect, the embodiments of the present application provide a vehicle, which comprises the device according to any possible implementation manner of the second aspect, or comprises the electronic device according to the fourth aspect.

[0058] In a sixth aspect, the embodiments of the present application provide a computer program product, which comprises instructions, and when the instructions are run on a computer or a processor, the computer or the processor executes the method according to any possible implementation manner of the first aspect. BRIEF DESCRIPTION OF DRAWINGS

[0059] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the accompanying drawings in the following description only represent some embodiments of the present application. For those skilled in the art, other drawings can also be obtained without creative effort based on these drawings.

[0060] FIG. 1 is a flowchart of a parking space screening method according to an embodiment of the present application;

[0061] FIG. 2 is an example diagram of a parking space length and width determination method according to an embodiment of the present application;

[0062] FIG. 3 is an example diagram of a starting and stopping distance and included angle determination method for a searching vehicle according to an embodiment of the present application;

[0063] FIG. 4 is an example diagram of a lateral distance determination method according to an embodiment of the present application;

[0064] FIG. 5 is a block diagram of a parking space screening device according to an embodiment of the present application;

[0065] FIG. 6 is a structural diagram of an electronic device or computer device according to an embodiment of the present application. DETAILED DESCRIPTION

[0066] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments only represent some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative effort fall within the scope of the present application.

[0067] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The terms "include" and "have" and any variations thereof in the embodiments of the present application and the accompanying drawings are intended to cover non-exclusive inclusion. For example, the processes, methods, systems, products or devices including a series of steps or units are not limited to the listed steps or units, but can optionally include steps or units not listed or can optionally include other steps or units inherent to these processes, methods, products or devices.

[0068] In order to meet the personalized parking space screening needs of users, the present application provides a parking space screening method, which can be applied to an electronic device or computer device, and can be applied to a vehicle or a server, as shown in FIG. 1, the method comprises:

[0069] S110: After searching for multiple free parking spaces through the search, based on the surrounding environment information perceived by the target vehicle, the multiple parking space evaluation dimensions, and the dimension value range of each parking level in each parking space evaluation dimension, the parking level of each free parking space in each parking space evaluation dimension is determined.

[0070] After the user starts the automatic parking system, the target vehicle can first search for free parking spaces around the parking lot. During the search, the image sensor, laser radar, ultrasonic radar and other sensors on the target vehicle will collect the surrounding environment information of the target vehicle, and then perceive the parking lines, position information of other vehicles, position information of obstacles and other information in the environment information through the perception algorithm of the perception module. Based on the perceived surrounding environment information, the value of each free parking space in each parking space evaluation dimension is calculated, and the dimension value range of each parking level in each parking space evaluation dimension is matched, and the matching successful parking level is determined as the parking level of the free parking space in the parking space evaluation dimension. Successful matching means that the value is within the dimension value range, and unsuccessful matching means that the value is not within the dimension value range. In practical applications, image sensors can be installed at multiple positions to collect environment information at different angles.

[0071] Among them, when the embodiment of the application is applied to a vehicle, the target vehicle is the ego vehicle; when the embodiment of the application is applied to a server, the target vehicle is a vehicle requesting to obtain a parking space from the server.

[0072] The multiple parking space evaluation dimensions include at least two of the following: parking space length, parking space width, road space width, search vehicle start distance, search vehicle end distance, angle between target vehicle heading and lane heading, and lateral distance between target vehicle and free parking space.

[0073] Among them, the search vehicle start distance is the distance from the reference point of the target vehicle to the longitudinal center line of the free parking space when the target vehicle starts searching; the search vehicle end distance is the distance from the reference point of the target vehicle to the longitudinal center line of the free parking space when the searched parking space is determined to be a free parking space; and the lateral distance between the target vehicle and the free parking space is the vertical distance from the reference point of the free parking space to the center axis of the target vehicle. The angle between the heading of the target vehicle and the heading of the lane has no positive or negative, but only represents an absolute angle value. The reference point of the target vehicle can be the center point of the rear axle of the target vehicle, or the midpoint of the edge closest to the free parking space. The reference point of the free parking space is the midpoint of the closest parking line that needs to be crossed when the target vehicle parks in the free parking space, that is, the reference point of the free parking space is the midpoint of the parking line closest to the road in the free parking space.

[0074] The length of the parking space is usually the length of the original parking line area of the free parking space. However, in actual parking scenarios, due to the immature driving skills of the driver, the existence of obstacles and other reasons, the final parked vehicle may press the line or cross the line, so the actual length of the free parking space may change. Similarly, the actual width of the free parking space may also change.

[0075] When the multiple parking evaluation dimensions include the length of the parking space and / or the width of the parking space, the surrounding environment information includes at least one of the parking line of the free parking space, the position information of the obstacle, and the position information of the other vehicle. In this case, the specific implementation of the step S110 includes:

[0076] For each free parking space, the parking line of the free parking space is obtained; in the case that there is another vehicle parked in the adjacent parking space of the free parking space, the first parking line in the free parking space is adjusted according to the position information of the other vehicle and the parking line of the free parking space, so that the minimum distance between the adjusted first parking line and the other vehicle is a preset distance threshold, wherein the first parking line is the parking line shared between the free parking space and the adjacent parking space in which the other vehicle is parked; when there is an obstacle at the second parking line of the free parking space, the second parking line in the free parking space is adjusted so that the adjusted second parking line does not contain the obstacle, wherein the second parking line is the parking line on the opposite side of the parking entrance in the free parking space; the length of the quadrilateral area surrounded by the adjusted parking line is determined as the value of the length of the parking space, and / or the width of the quadrilateral area surrounded by the adjusted parking line is determined as the value of the width of the parking space; the value of the length of the parking space is matched with the dimension value range of each parkable grade corresponding to the length of the parking space to determine the parkable grade corresponding to the value of the length of the parking space, and / or the value of the width of the parking space is matched with the dimension value range of each parkable grade corresponding to the width of the parking space to determine the parkable grade corresponding to the value of the width of the parking space.

[0077] The preset distance threshold can be 0, that is, the adjusted first parking line is tangent to the other vehicle. In order to ensure safety, a value greater than 0 can be set. The greater the value of the length of the parking space, the higher the corresponding parkable grade, and the greater the value of the width of the parking space, the higher the corresponding parkable grade.

[0078] As shown in FIG. 2, according to the illustrated angle, the parking space lines on the left and right sides of the idle parking space can be referred to as the first parking space lines, and the parking space line on the lower side of the idle parking space can be referred to as the second parking space line. The other vehicles are parked in the parking spaces on both sides of the idle parking space, the left vehicle does not cross the left parking space line of the idle parking space and leaves a certain distance, the right vehicle crosses the right parking space line of the idle parking space, and the lower parking space line of the idle parking space is occupied by an obstacle occupying part of the idle parking space. In this case, the original parking space line (solid parking space line) of the idle parking space can be adjusted to obtain the actual space parking space line (i.e., the dashed parking space line). The length of the area surrounded by the adjusted parking space line is the value of the parking space length of the idle parking space, and the width of the area is the value of the parking space width of the idle parking space.

[0079] In the embodiments of the present application, the division manner of the parking level can be that the higher the parking degree, the higher the parking level, and vice versa. The number of levels of the parking level is not limited in the embodiments of the present application, and can be set according to actual needs.

[0080] Taking the parking space length and the parking space width as two parking evaluation dimensions, the relationship between the parking level and the dimension value range is explained as shown in Table 1. The parking level can be divided into three levels, and each parking level is allocated a dimension value range.

[0081] Table 1

[0082] Similar to the parking space length and the parking space width, the road space width can also be the actual road width. The actual minimum space width of the road around the idle parking space can be calculated as the road space width according to the position information of the parked vehicle and the position information of the obstacle in the preset space range near each idle parking space. As shown in FIG. 3, the minimum road space width around the idle parking space changes due to the position information of the parked vehicle. The greater the value of the road space width, the higher the corresponding parking level.

[0083] The angle between the heading of the target vehicle and the lane heading, the lateral distance between the target vehicle and the idle parking space are shown in FIG. 4. In practical applications, when the starting distance of the searching vehicle and the ending distance of the searching vehicle are within the first optimal distance range, the parking space can be fully observed, that is, the starting distance of the searching vehicle and the ending distance of the searching vehicle can reflect the observation field of view range of the parking space, and when the distance is small, there may be a problem that part of the area of the parking space cannot be observed, and when the distance is large, there may be a problem of observation waste. Therefore, when within the first optimal distance range, the parking level is higher, and when within other distance ranges, the parking level is lower. Similarly, when the angle between the heading of the target vehicle and the lane heading is within the optimal angle range, it is easy to plan a parking trajectory based on the parking planning algorithm, and therefore the parking level is higher; when within other angle ranges with too small or too large angles, the planned parking trajectory may be complex, or even planning fails, and therefore the parking level is lower. When the lateral distance between the target vehicle and the idle parking space is within the second optimal distance range, the relevant information can be accurately measured, and it is easy to plan a parking trajectory based on the parking planning algorithm, and therefore the parking level is higher; when the lateral distance is too small, the parking planning algorithm is easy to fail, and therefore the parking level is lower; when the lateral distance is too large, the parking space detected by the sensor is not accurate enough, the error of the measured parking space width, parking space depth, etc. is too large, and therefore there may be a collision risk in the parking process or the parking space cannot be accurately parked, and therefore the parking level is lower.

[0084] In setting the parking level, a best range can be locked as the highest level first, the remaining ranges can be split or merged according to the demand for the number of levels, and the parking level corresponding to the range indicating that the idle parking space is completely unavailable can be set to 0. As shown in Tables 2 and 3, there is a best range corresponding to a highest level for both the lateral distance and the angle, the parking level corresponding to the range indicating that the idle parking space is completely unavailable is 0, and the remaining ranges can be divided according to the level demand.

[0085] Table 2

[0086] Table 3

[0087] S120: Determine the comprehensive parking level of each idle parking space according to the parking level of each idle parking space in each parking evaluation dimension.

[0088] After determining the parking level of each idle parking space in each parking evaluation dimension, the parking levels of the idle parking space in each parking evaluation dimension can be weighted for each idle parking space, and the weighted result is determined as the comprehensive parking level of the idle parking space.

[0089] The weight values of each parking space evaluation dimension can be the same or different. When they are different, the weight value of each parking space evaluation dimension can be assigned according to the importance of each parking space evaluation dimension to safe and efficient parking, that is, the higher the importance, the higher the weight value.

[0090] When the calculated comprehensive parking level is not an integer, the original comprehensive parking level can be directly retained, or the integer part of the comprehensive parking level can be taken as the final comprehensive parking level.

[0091] As shown in Table 4, the automatic parking system searches for 6 idle parking spaces. For each idle parking space, after calculating the parking level of the idle parking space in the above-mentioned 7 parking space evaluation dimensions, the comprehensive parking level can be calculated by averaging, and when the comprehensive parking level is not an integer, the integer part is taken as the final comprehensive parking level.

[0092] Table 4

[0093] S130: Output display of the plurality of idle parking spaces based on the comprehensive parking level, and determination of the idle parking space selected by the user as the target parking space.

[0094] To meet the different filtering level standards of different users, the user can first customize the level standard in the human-computer interaction interface of the automatic parking system. After obtaining the comprehensive parking level of each idle parking space, at least one idle parking space that meets the user's customized level standard can be filtered out according to the comprehensive parking level, and the filtered idle parking space can be output and displayed.

[0095] For example, when there are three levels in total, the level standard of user A is greater than or equal to 2, and the level standard of user B is level 3.

[0096] When the calculated comprehensive parking level is not an integer, but the original comprehensive parking level is directly retained, the original comprehensive parking level can be directly matched with the level standard, for example, the original comprehensive parking level is 2.3, and the level standard is greater than or equal to 2. Then 2.3 meets the level standard, which can be output to the user for filtering.

[0097] In addition, after the idle parking spaces are preliminarily filtered out according to the level standard customized by the user, when the filtered idle parking spaces are displayed, each idle parking space can be displayed differently according to the comprehensive parking level, to facilitate the user to make further filtering. There are various ways of differentiated display, for example, the corresponding comprehensive parking level can be displayed on the idle parking space while the idle parking space is displayed, or idle parking spaces with different comprehensive parking levels can be displayed in different display formats, for example, the colors of idle parking spaces with different comprehensive parking levels can be different.

[0098] Of course, the user can not need to customize the level standard, but directly distinguish and display each idle parking space according to the comprehensive parking level.

[0099] The screening method of the parking space provided in the embodiments of the present application, after searching for multiple idle parking spaces, does not directly output to the user for blind selection, but first determines the parking level of each idle parking space on each parking evaluation dimension according to the surrounding environment information perceived by the target vehicle, the multiple parking space evaluation dimensions, and the dimension value range of each parking level in the multiple parking levels corresponding to each parking evaluation dimension, then calculates the comprehensive parking level of each idle parking space, and finally outputs and displays the multiple idle parking spaces according to the comprehensive parking level, so that the user can select according to the comprehensive parking level of each idle parking space, without blind selection, thereby meeting the personalized needs of the user and improving the user stickiness of automatic parking.

[0100] Based on the above method embodiments, another embodiment of the present application provides a screening device for a parking space, as shown in FIG. 5, the device comprises:

[0101] A first determination unit 210 is configured to, after searching for multiple idle parking spaces through a search, determine the parking level of each idle parking space on each parking evaluation dimension based on the surrounding environment information perceived by the target vehicle, the multiple parking space evaluation dimensions, and the dimension value range of each parking level in the multiple parking levels corresponding to each parking evaluation dimension.

[0102] A second determination unit 220 is configured to determine the comprehensive parking level of each idle parking space according to the parking level of each idle parking space on each parking evaluation dimension.

[0103] An output display unit 230 is configured to output and display multiple idle parking spaces based on the comprehensive parking level.

[0104] A third determination unit 240 is configured to determine the idle parking space selected by the user as a target parking space.

[0105] In a possible implementation, the multiple parking space evaluation dimensions include at least two of the following:

[0106] The length of the parking space, the width of the parking space, the width of the road space, the starting distance of the search vehicle, the ending distance of the search vehicle, the included angle between the heading of the target vehicle and the heading of the lane, and the lateral distance between the target vehicle and the idle parking space.

[0107] The starting distance of the search vehicle is the distance from the reference point of the target vehicle to the longitudinal center line of the idle parking space when the target vehicle starts searching.

[0108] The target vehicle termination distance is the distance from the reference point of the target vehicle to the longitudinal center line of the idle parking space when the searched parking space is determined as an idle parking space;

[0109] The lateral distance between the target vehicle and the idle parking space is the vertical distance from the reference point of the idle parking space to the center axis of the target vehicle.

[0110] In a possible implementation, when the plurality of parking space evaluation dimensions include the parking space length and / or the parking space width, the surrounding environment information includes at least one of the parking line of the idle parking space, the position information of the obstacle, and the position information of the other vehicle;

[0111] The first determination unit 210 includes:

[0112] The acquisition module is configured to acquire, for each idle parking space, the parking line of the idle parking space;

[0113] The adjustment module is configured to, in a case where there is another vehicle parked in the adjacent parking space of the idle parking space, adjust a first parking line in the idle parking space according to the position information of the other vehicle and the parking line of the idle parking space, so that the minimum distance between the adjusted first parking line and the other vehicle is a preset distance threshold, wherein the first parking line is a parking line shared between the idle parking space and the adjacent parking space in which the other vehicle is parked.

[0114] The adjustment module is further configured to, in a case where there is an obstacle at a second parking line of the idle parking space, adjust the second parking line in the idle parking space, so that the adjusted second parking line does not contain the obstacle, wherein the second parking line is a parking line on the opposite side of the parking entrance in the idle parking space.

[0115] The first determination module is configured to determine the length of the quadrilateral region surrounded by the adjusted parking line as the value of the parking space length, and / or determine the width of the quadrilateral region surrounded by the adjusted parking line as the value of the parking space width.

[0116] The second determination module is configured to match the value of the parking space length with the dimension value range of each of the parkable grades corresponding to the parking space length, to determine the parkable grade corresponding to the value of the parking space length, and / or match the value of the parking space width with the dimension value range of each of the parkable grades corresponding to the parking space width, to determine the parkable grade corresponding to the value of the parking space width.

[0117] In a possible implementation, the output display unit 230 includes:

[0118] The screening module is configured to screen at least one idle parking space that meets a user-defined level standard according to the comprehensive parking level.

[0119] The output display module is configured to output and display the screened idle parking spaces.

[0120] In a possible implementation, the second determination unit 220 is configured to, for each idle parking space, perform weighted calculation on the parking levels of the idle parking space in each parking evaluation dimension, and determine the weighted result as the comprehensive parking level of the idle parking space.

[0121] The screening device for parking spaces provided by the embodiments of the present application, after searching for multiple idle parking spaces, does not directly output the idle parking spaces to the user for blind selection, but first determines the parking level of each idle parking space in each parking evaluation dimension according to the surrounding environment information perceived by the target vehicle, multiple parking evaluation dimensions, and the dimension value range of each parking level in each parking level corresponding to each parking evaluation dimension, then calculates the comprehensive parking level of each idle parking space, and finally outputs and displays the multiple idle parking spaces according to the comprehensive parking level, so that the user can select according to the comprehensive parking level of each idle parking space, without blind selection, thereby meeting the personalized needs of the user and improving the user stickiness of automatic parking.

[0122] Based on the above method embodiments, another embodiment of the present application provides a computer readable storage medium having a computer program stored thereon, the program being executed by a processor to implement the method according to any of the above embodiments.

[0123] Based on the above method embodiments, another embodiment of the present application provides an electronic device or a computer device, as shown in FIG. 6, which includes:

[0124] one or more processors 310;

[0125] The processor 310 is coupled with a storage device 320, and the storage device 320 is configured to store one or more programs.

[0126] When the one or more programs are executed by the one or more processors 310, the electronic device or the computer device implements the method according to any of the above embodiments.

[0127] Based on the above method embodiments, another embodiment of the present application provides a vehicle, which includes the device according to any of the above embodiments, or includes the electronic device as described above.

[0128] The vehicle comprises an automatic parking system and a central control screen, the system comprising an environment data acquisition system, a CPU (Central Processing Unit) and a vehicle strategy control system. The environment data acquisition system generally comprises an image acquisition system and a vehicle-mounted distance detection system (distance detection through an ultrasonic radar or millimeter wave radar system). The CPU is used to obtain information output by the environment data acquisition system and the vehicle-mounted distance detection system, and determine a plurality of idle parking spaces to be output by executing the screening method of the parking space provided in any one of the above embodiments, and send the plurality of idle parking spaces to the central control screen for output display. After a user selects an idle parking space on the central control screen, the CPU determines the idle parking space selected by the user as a target parking space to be parked, and then the automatic parking system performs parking trajectory planning and automatically parks the target vehicle into the target parking space according to the planned trajectory. The vehicle can also comprise a T-Box (Telematics Box), which is used to upload information output by the environment data acquisition system and the vehicle-mounted distance detection system to a server, and determine a plurality of idle parking spaces to be output by executing the screening method of the parking space provided in any one of the above embodiments, and send the plurality of idle parking spaces to the central control screen for output display through the T-Box. After a user selects an idle parking space on the central control screen, the CPU determines the idle parking space selected by the user as a target parking space to be parked, and then the automatic parking system performs parking trajectory planning and automatically parks the target vehicle into the target parking space according to the planned trajectory.

[0129] Based on the above embodiments, another embodiment of the present application provides a computer program product containing instructions, when the instructions are run on a computer or a processor, the computer or the processor executes the method as described in any one of the above embodiments.

[0130] The device embodiments correspond to the method embodiments and have the same technical effects as the method embodiments. For specific descriptions, refer to the method embodiments. The device embodiments are based on the method embodiments, and specific descriptions can be referred to the method embodiments, which will not be repeated here. Those skilled in the art can understand that the drawings are only schematic diagrams of an embodiment, and the modules or flows in the drawings are not necessarily necessary for implementing the present application.

[0131] Those skilled in the art can understand that the modules in the device in the embodiments can be distributed in the device in the embodiments as described in the embodiments, or can be located in one or more devices different from the embodiments. The modules in the above embodiments can be combined into one module, or can be further split into a plurality of sub-modules.

[0132] Finally, it should be noted that the above examples are only used to illustrate the technical solutions of the present application, and are not intended to limit the same; although the present application has been described in detail with reference to the foregoing examples, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for selecting available parking spaces, characterized in that, The method includes: After finding multiple available parking spaces through the search database, based on the surrounding environment information perceived by the target vehicle, multiple parking space evaluation dimensions, and the value range of each of the multiple parking availability levels corresponding to each parking space evaluation dimension, the parking availability level of each available parking space in each of the parking space evaluation dimensions is determined. Based on the parking availability rating of each available parking space in each of the parking space evaluation dimensions, determine the overall parking availability rating of each available parking space; Based on the comprehensive parking availability rating, multiple available parking spaces are displayed, and the available parking space selected by the user is identified as the target parking space.

2. The method according to claim 1, characterized in that, The multiple parking space evaluation dimensions include at least two of the following: The length of the parking space, the width of the parking space, the width of the road space, the starting distance of the vehicle searching for the parking space, the ending distance of the vehicle searching for the parking space, the angle between the heading of the target vehicle and the heading of the lane, and the lateral distance between the target vehicle and the available parking space. Wherein, the starting distance of the vehicle searching for parking space is the distance from the reference point of the target vehicle to the longitudinal center line of the available parking space when the target vehicle begins searching for parking space; The vehicle's termination distance for searching the parking space is the distance from the reference point of the target vehicle to the longitudinal centerline of the available parking space when the searched parking space is determined to be an available parking space. The lateral distance between the target vehicle and the vacant parking space is the vertical distance from the reference point of the vacant parking space to the centerline of the target vehicle.

3. The method according to claim 2, characterized in that, When the multiple parking space evaluation dimensions include the parking space length and / or the parking space width, the surrounding environment information includes at least one of the following: the parking space line of the vacant parking space, the location information of obstacles, and the location information of other vehicles. Based on the surrounding environment information perceived by the target vehicle, multiple parking space evaluation dimensions, and the value range of each of the multiple parking availability levels corresponding to each parking space evaluation dimension, the parking availability level of each vacant parking space in each of the parking space evaluation dimensions is determined, including: For each available parking space, obtain the parking line of that available parking space; If other vehicles are parked in the adjacent parking spaces of the vacant parking space, the first parking line in the vacant parking space is adjusted according to the location information of the other vehicles and the parking line of the vacant parking space, so that the minimum distance between the adjusted first parking line and the other vehicles is a preset distance threshold. The first parking line is a shared parking line between the vacant parking space and the adjacent parking space with other vehicles parked. When there is an obstacle at the second parking line of the vacant parking space, the second parking line in the vacant parking space is adjusted so that the obstacle is not included within the adjusted second parking line. The second parking line is the parking line on the opposite side of the parking entrance in the vacant parking space. The length of the quadrilateral area enclosed by the adjusted parking lines is determined as the value of the length of the parking space, and / or the width of the quadrilateral area enclosed by the adjusted parking lines is determined as the value of the width of the parking space. The parking space length value is matched with the dimensional value range of each parking level corresponding to the parking space length to determine the parking level corresponding to the parking space length value, and / or the parking space width value is matched with the dimensional value range of each parking level corresponding to the parking space width to determine the parking level corresponding to the parking space width value.

4. The method according to claim 1, characterized in that, Based on the comprehensive parking availability rating, multiple available parking spaces are displayed, including: Based on the comprehensive parking availability rating, at least one available parking space that meets the user-defined rating criteria is selected. The output displays the selected available parking spaces.

5. The method according to any one of claims 1-4, characterized in that, Based on the parking availability rating of each available parking space in each of the parking space evaluation dimensions, determine the overall parking availability rating of each available parking space, including: For each available parking space, the parking availability level of the available parking space is calculated by weighting the parking availability level of the available parking space in each of the parking space evaluation dimensions, and the weighted result is determined as the comprehensive parking availability level of the available parking space.

6. A screening device for parking spaces, characterized in that, The device includes: The first determining unit is used to determine the parking level of each available parking space in each parking space evaluation dimension after searching for multiple vacant parking spaces through the search database, based on the surrounding environment information perceived by the target vehicle, multiple parking space evaluation dimensions, and the value range of each of the multiple parking levels corresponding to each parking space evaluation dimension. The second determining unit is used to determine the comprehensive parking availability level of each vacant parking space based on the parking availability level of each vacant parking space in each of the parking space evaluation dimensions. The output display unit is used to output and display multiple available parking spaces based on the comprehensive parking availability level; The third determining unit is used to determine the available parking space selected by the user as the target parking space.

7. The apparatus according to claim 6, characterized in that, The multiple parking space evaluation dimensions include at least two of the following: The length of the parking space, the width of the parking space, the width of the road space, the starting distance of the vehicle searching for the parking space, the ending distance of the vehicle searching for the parking space, the angle between the heading of the target vehicle and the heading of the lane, and the lateral distance between the target vehicle and the available parking space. Wherein, the starting distance of the vehicle searching for parking space is the distance from the reference point of the target vehicle to the longitudinal center line of the available parking space when the target vehicle begins searching for parking space; The vehicle's termination distance for searching the parking space is the distance from the reference point of the target vehicle to the longitudinal centerline of the available parking space when the searched parking space is determined to be an available parking space. The lateral distance between the target vehicle and the vacant parking space is the vertical distance from the reference point of the vacant parking space to the centerline of the target vehicle.

8. The apparatus according to claim 7, characterized in that, When the multiple parking space evaluation dimensions include the parking space length and / or the parking space width, the surrounding environment information includes at least one of the following: the parking space line of the vacant parking space, the location information of obstacles, and the location information of other vehicles. The first determining unit includes: The acquisition module is used to acquire the parking line of each of the vacant parking spaces; An adjustment module is used to adjust the first parking line in the vacant parking space according to the location information of the other vehicles and the parking line of the vacant parking space when there are other vehicles parked in the adjacent parking spaces of the vacant parking space, so that the minimum distance between the adjusted first parking line and the other vehicles is a preset distance threshold, wherein the first parking line is a shared parking line between the vacant parking space and the adjacent parking space where other vehicles are parked; The adjustment module is further configured to adjust the second parking line in the vacant parking space when there is an obstacle at the second parking line of the vacant parking space, so that the obstacle is not included within the adjusted second parking line, wherein the second parking line is the parking line on the opposite side of the parking entrance in the vacant parking space. The first determining module is used to determine the length of the quadrilateral area enclosed by the adjusted parking lines as the value of the length of the parking space, and / or to determine the width of the quadrilateral area enclosed by the adjusted parking lines as the value of the width of the parking space. The second determining module is used to determine the parking level corresponding to the value of the parking space length by matching the value of the parking space length with the dimensional value range of each parking level corresponding to the parking space length, and / or to determine the parking level corresponding to the value of the parking space width by matching the value of the parking space width with the dimensional value range of each parking level corresponding to the parking space width.

9. The apparatus according to claim 6, characterized in that, The output display unit includes: The filtering module is used to filter out at least one available parking space that meets the user-defined level criteria based on the comprehensive parking availability level. The output display module is used to output and display the selected available parking spaces.

10. The apparatus according to any one of claims 6-9, characterized in that, The second determining unit is used to perform a weighted calculation of the parking availability level of each vacant parking space in each of the parking space evaluation dimensions for each vacant parking space, and determine the weighted result as the comprehensive parking availability level of the vacant parking space.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method as described in any one of claims 1-5.

12. An electronic device, characterized in that, The electronic device includes: One or more processors; The processor is coupled to a storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the electronic device performs the method as described in any one of claims 1-5.

13. A vehicle, characterized in that, The vehicle includes the device according to any one of claims 6-10, or the electronic device according to claim 12.

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