Method for confirming target parking space, and parking system, vehicle and storage medium

Abstract

The present disclosure relates to a method for confirming a target parking space. The method comprises: acquiring first parking space information of a first parking space; on the basis of the first parking space information, determining a parking probability of the first parking space being available for parking in; comparing the parking probability with a first probability threshold value and a second probability threshold value, wherein the second probability threshold value is greater than the first probability threshold value; on the basis of an image recording instruction, recording and storing a first parking space image of the first parking space, and on the basis of a release instruction, releasing the first parking space as a candidate parking space; when the first parking space is selected from among candidate parking spaces, providing the first parking space image; and when it is determined, on the basis of the first parking space image, that the first parking space is available for parking in, confirming the first parking space as a target parking space. The present disclosure further relates to a parking system, a motor vehicle, and a computer-readable storage medium.

Description

Method for confirming parking space, parking system, vehicle and storage medium TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of vehicle parking, in particular to a method for confirming parking space, a parking system, a motor vehicle and a computer readable storage medium. BACKGROUND

[0002] With the vigorous development of vehicle intelligence, vehicle parking technology is attracting more and more attention. In the current mainstream design scheme, the parking process includes, for example, a parking space identification process, a parking space release process and a parking-in process, wherein in the parking space identification process, a parking space is identified to be able to park, so as to release the parking space in the parking space release process for subsequent parking-in process.

[0003] In the parking space identification process and the parking space release process, there are various solutions to identify a parking space as a parking space and release it, such as a spatial perception solution using ultrasonic waves, a visual perception solution using a camera or a fusion solution using spatial perception and visual perception at the same time, etc. However, these solutions always have limitations, so that in some cases a parking space that cannot be parked is identified as a parking space and is released, for example, mistakenly or irregularly, to the subsequent parking-in process. For example, when a parking space has a lock and the vehicle does not sense the lock, the parking space is mistakenly released. For example, when a parking space is a disabled parking space and the vehicle does not sense the disabled parking space identification, the parking space is released irregularly.

[0004] The mistaken release and irregular release of the parking space not only hinder the normal parking process, but also bring a bad user parking experience. SUMMARY

[0005] In order to solve the above problems, the present disclosure proposes a method for confirming parking space, a parking system, a motor vehicle and a computer readable storage medium, so as to increase the process of confirming parking space using a parking space image which can supplement information about the state of the parking space, after identifying a parking space that can be parked, the parking space is released as an alternative parking space and it is confirmed whether it is used as a parking space, and only after the parking space is confirmed as a parking space, it is provided to the parking-in process, greatly improving the success rate of the parking process and improving the user parking experience.

[0006] The embodiments of the present disclosure provide a method for confirming a parking space, comprising: obtaining first parking space information of a first parking space; determining a parking probability of the first parking space according to the first parking space information; comparing the parking probability with a first probability threshold and a second probability threshold, wherein the second probability threshold is greater than the first probability threshold; wherein, in a case that the parking probability is greater than the first probability threshold and less than the second probability threshold, providing an image recording instruction for the first parking space if there is no image recording instruction for the first parking space, or in a case that the parking probability is greater than the second probability threshold, providing a release instruction for the first parking space if there is no release instruction for the first parking space, and providing the image recording instruction if there is no image recording instruction, wherein recording and storing a first parking space image of the first parking space based on the image recording instruction, and releasing the first parking space as an alternative parking space based on the release instruction; in a case that the first parking space is selected from the alternative parking space, providing the first parking space image; and in a case that it is judged that the first parking space can be parked according to the first parking space image, confirming the first parking space as the parking space.

[0007] According to the embodiments of the present disclosure, the first parking space information comprises a parking line and / or a corner point and / or integrated space information and / or input information of a user.

[0008] According to the embodiments of the present disclosure, the recording and storing of the first parking space image of the first parking space based on the image recording instruction comprises: if an image recording device of the vehicle has passed a preset position of the first parking space when the image recording instruction is provided, recording and storing the first parking space image when the image recording instruction is provided, or if the image recording device has not passed the preset position when the image recording instruction is provided, recording and storing the first parking space image when the image recording device passes the preset position.

[0009] According to the embodiments of the present disclosure, the preset position is a longitudinal center axis of the first parking space.

[0010] According to the embodiments of the present disclosure, in a case that a map related to a parking space is cleared or the vehicle is out of the first parking space by a preset distance, the stored first parking space image is cleared if there is no release instruction.

[0011] According to the embodiments of the present disclosure, the releasing of the first parking space as an alternative parking space comprises displaying a first icon corresponding to the first parking space which can be selected on a human-computer interface which can be operated, and wherein the providing of the first parking space image comprises displaying the stored first parking space image on the human-computer interface after the first icon is selected.

[0012] According to an embodiment of the present disclosure, whether the first parking space can be parked is determined by the vehicle or the user according to the first parking space image.

[0013] An embodiment of the present disclosure provides a parking system, comprising: an information acquisition module, configured to acquire parking space information of a parking space, and capable of acquiring position and attitude information of a vehicle itself; an image recording module, configured to record a parking space image of the parking space based on an image recording instruction for the parking space; a storage module, configured to store the recorded parking space image; a processing module, configured to determine a parking probability of the parking space according to the parking space information, and compare the parking probability with a first probability threshold and a second probability threshold, wherein the second probability threshold is greater than the first probability threshold; wherein, in a case where the parking probability is greater than the first probability threshold and less than the second probability threshold, if there is no image recording instruction in the parking system, the image recording instruction is provided, or in a case where the parking probability is greater than the second probability threshold, if there is no release instruction for the parking space, the release instruction is provided, and if there is no image recording instruction, the image recording instruction is provided, wherein the parking space image of the parking space is recorded and stored based on the image recording instruction, and the parking space is released as an alternative parking space based on the release instruction; and a human-computer interaction module, configured to provide the first parking space image in a case where the first parking space is selected from the alternative parking space.

[0014] According to an embodiment of the present disclosure, the processing module determines whether the first parking space can be parked according to the first parking space image, and wherein, in a case where it is determined that the first parking space can be parked, the first parking space is confirmed as the parking space.

[0015] An embodiment of the present disclosure provides a motor vehicle, comprising the parking system according to one of the embodiments of the present disclosure and / or capable of performing the method according to one of the embodiments of the present disclosure.

[0016] An embodiment of the present disclosure provides a computer readable storage medium, having stored thereon computer executable instructions, which when executed by a processor, are used to implement the method according to one of the embodiments of the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following will briefly introduce the drawings needed to be used in the description of the embodiments. Obviously, the drawings in the following description are only some exemplary embodiments of the present disclosure, and other drawings can also be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0018] FIG. 1 exemplarily shows a schematic diagram of parking space identification in a top view;

[0019] FIG. 2 illustrates a step flowchart of a method for confirming a parking space according to an embodiment of the present disclosure;

[0020] FIG. 3 illustrates an application schematic diagram of a method for confirming a parking space according to an embodiment of the present disclosure in a top view;

[0021] FIG. 4 illustrates a logic flowchart of a method for confirming a parking space according to an embodiment of the present disclosure;

[0022] FIG. 5 illustrates a schematic diagram of a parking space image according to an embodiment of the present disclosure;

[0023] FIG. 6 illustrates a schematic diagram of a parking system according to an embodiment of the present disclosure;

[0024] FIG. 7 illustrates a schematic diagram of a human-machine interface according to an embodiment of the present disclosure; and

[0025] FIG. 8 illustrates a schematic diagram of a computer-readable storage medium according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0026] In order to make the purposes, technical solutions and advantages of the present disclosure more obvious, the example embodiments according to the present disclosure will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments of the present disclosure, and it should be understood that the present disclosure is not limited to the example embodiments described herein.

[0027] In the present specification and drawings, the same or similar reference signs are used to represent steps and elements having substantially the same or similar functions, and repeated descriptions of these steps and elements will be omitted. Meanwhile, in the description of the present disclosure, the terms "first", "second", and the like are only used to distinguish the description, and cannot be understood as indicating or implying relative importance or sequence.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present disclosure belongs. The terms used herein are only for the purpose of describing the embodiments of the present disclosure, and are not intended to limit the present disclosure.

[0029] FIG. 1 illustrates a schematic diagram of parking space recognition in a top view.

[0030] A typical parking space recognition, for example, includes a vision-based perception scheme using a camera, a spatial perception scheme using ultrasonic waves, or a fusion scheme thereof, etc.

[0031] As shown in FIG. 1, a vision-based perception scheme, for example, records images of the surrounding environment of the vehicle by means of cameras distributed around the vehicle body (for example, four wide-angle cameras distributed on the front side, rear side, left side and right side of the vehicle body) and stitches the images into a 360-degree panoramic image. The 360-degree panoramic image is usually a top-down image, so that the vehicle and the user can better observe and analyze the surrounding environment. In particular, the vehicle further processes the (360-degree panoramic) image, for example, performs semantic segmentation and extracts feature points in the image, so as to identify, for example, parking space corner points or detect parking space lines (for example, shown in FIG. 1 as a dotted circle frame and a hatched line) by using a Hough line detection method. However, the vision-based perception scheme has defects, for example, the vehicle can only record images within a limited range (for example, shown in FIG. 1 as a dotted square frame), while important information (for example, the presence of a ground lock) that determines whether the vehicle can be parked may exist in the remaining space that is not recorded, and the dependence of image processing technology on image features is high, resulting in lower accuracy of parking space recognition in the case that image features are covered or not completely recorded.

[0032] A spatial perception scheme, for example, uses an ultrasonic device arranged at the vehicle body to perform fan-shaped scanning detection to obtain spatial information containing distance, direction, etc., and further determines the specific position of obstacles based on the spatial information to obtain available space. However, the spatial perception scheme also has defects, for example, it cannot perceive signs without spatial information (for example, signs for disabled parking spaces, fire access signs), etc.

[0033] Regardless of the parking space recognition technology adopted, after obtaining parking space information (image information, spatial information, etc.), the parking space information can be processed in various ways to determine the probability or confidence that the parking space or specific space can be parked. The more complete the parking space information is and the more feature information it contains, the higher the probability will be. When the probability reaches a certain threshold, the parking space or specific space is considered to be able to be parked and is released.

[0034] However, as mentioned above, the parking space recognition technology has limitations, and there is a risk of false release or non-compliant release during parking.

[0035] FIG. 2 shows a step flowchart of a method 100 for confirming a parking space according to an embodiment of the present disclosure.

[0036] As shown in FIG. 2, in step S1, first parking space information of a first parking space can be obtained, for example.

[0037] It should be understood that the term "first parking space" is intended to mean any one parking space or space, without representing a limitation to the present disclosure. The method for confirming a parking space according to embodiments of the present disclosure can be applied to any one parking space or space, respectively, independently, for example. Furthermore, the method for confirming a parking space according to embodiments of the present disclosure is carried out periodically over time or event-triggered, for example, once per second or upon detection of a specific feature, until a parking space is confirmed or manually aborted.

[0038] The first parking space information is acquired, for example, by means of an image recording device, such as a camera, and / or an ultrasonic device and / or a human-machine interface. The first parking space information can comprise, for example, image information, which can comprise parking lines and / or corner points, spatial information, which can comprise one-piece spatial information, and input information of a user, which can comprise a selection of a specific space as a first parking space by the user directly in the form of a circle on a 360-degree panoramic image, for example. Different solutions can be used to decide which first parking space information is acquired, for example by means of semantic segmentation, deep learning, without the present disclosure being limited thereto.

[0039] The parking space information can comprise, for example, historical parking space information. In this case, the parking space information can be stored.

[0040] In step S2, a parking probability or a confidence of the first parking space can be determined, for example, from the first parking space information. Different solutions can be used to determine the parking probability, for example by means of semantic segmentation, deep learning, without the present disclosure being limited thereto.

[0041] In step S3, the determined parking probability can be compared, for example, to a first probability threshold and to a second probability threshold, wherein the second probability threshold is greater than the first probability threshold. The first probability threshold can be 30%, for example, and the second probability threshold can be 80%, for example, which can be set and adjusted as required.

[0042] The second probability threshold can also be referred to as a release threshold, and the first parking space is considered to be parkable when the parking probability is greater than the second probability threshold. The first parking space can be released by providing a release instruction only once after the parking probability is greater than the second probability threshold, without having to repeatedly issue a release instruction each time the result of the parking probability being greater than the second probability threshold is obtained. Preferably, in order to improve the accuracy of the method, the parking probability is considered to be greater than the second probability threshold only after the parking probability is greater than the second probability threshold a certain number of times, for example 3 times, or for a certain time, for example for 3 seconds. In the case of a user selecting a specific space as a first parking space, the parking probability of this first parking space can be set directly to be higher than the second probability threshold.

[0043] After the first parking space is released, the first parking space enters a released state and becomes a selectable alternative parking space.

[0044] The first probability threshold can also be referred to as a pre-release threshold, and when the parking probability is greater than the first probability threshold and less than the second probability threshold, the first parking space is regarded as potentially parkable. Since the method according to the embodiments of the present disclosure is performed time-triggered or event-triggered, it is possible that the current parking probability is greater than the first probability threshold and less than the second probability threshold, the first parking space enters the pre-release state, and the subsequent situation can be that the parking probability is greater than the second probability threshold and the first parking space is released, or the parking probability is always less than the second probability threshold and the first parking space cannot be released.

[0045] According to the embodiments of the present disclosure, the first parking space image of the first parking space is recorded in the case of the first parking space being potentially parkable and being parkable.

[0046] Accordingly, in step S4, in the case of the parking probability being greater than the first probability threshold and less than the second probability threshold, if there is no image recording instruction for the first parking space, the image recording instruction is provided. Similar to the release instruction, the image recording instruction also only needs to be provided once.

[0047] In step S5, in the case of the parking probability being greater than the second probability threshold, if there is no release instruction for the first parking space, the release instruction is provided, and if there is no image recording instruction, the image recording instruction is provided.

[0048] For example, based on the image recording instruction, the first parking space image of the first parking space is recorded and stored, and based on the release instruction, the first parking space is released as an alternative parking space. Preferably, the release action occurs immediately after the release instruction, and the occurrence of the image recording action is optional.

[0049] Preferably, said recording and storing the first parking space image of the first parking space based on the image recording instruction comprises: if the image recording device of the vehicle has passed a preset position of the first parking space when the image recording instruction is provided, recording and storing the first parking space image when the image recording instruction is provided, or if the image recording device has not passed the preset position when the image recording instruction is provided, recording and storing the first parking space image when the image recording device passes the preset position.

[0050] Preferably, the preset position is a longitudinal center axis of the first parking space.

[0051] Preferably, the image recording device is an image recording device of the vehicle arranged at the side of the first parking space, for example, at the rearview mirror of the side of the first parking space.

[0052] A schematic view of the first parking space image is shown in Fig. 5, for example.

[0053] In one example, the first parking space enters the pre-release state and provides the image recording instruction at a first time, and at this first time, the vehicle and its image recording device have not yet reached the first parking space, then the first parking space image is recorded and stored when the image recording device passes the longitudinal center axis of the first parking space at a second time, wherein the second time is later than the first time. In this way, a more complete image of the first parking space can be obtained. Whether the first parking space is in the pre-release state or the release state at the second time does not affect the image recording.

[0054] In another example, the parking probability of the first parking space has not reached the pre-release threshold, i.e. the first probability threshold, until the vehicle has almost passed the first parking space due to, for example, the first lane information being unable to be well collected, and the available space is recognized and the parking probability of the first parking space is directly brought to the release threshold, i.e. the second probability threshold. In the case that the parking probability is greater than the second probability threshold, the image recording instruction is provided, but the image recording device has passed the longitudinal center axis of the first parking space when the image recording instruction is provided, then the first parking space image is recorded and stored when the image recording instruction is provided. Although such a first parking space image is less complete than the first parking space image in the above example, it can still reflect the situation of the first parking space.

[0055] The first parking space becomes one of the alternative parking spaces after being released, and the alternative parking spaces also include, for example, other parking spaces that are also released.

[0056] Releasing the first parking space as an alternative parking space includes, for example, displaying a selectable first icon corresponding to the first parking space on the operable human-machine interface. In this way, the user can intuitively and clearly know the existence of the selectable alternative parking space from the human-machine interface. Alternatively, the icon of the parking space in the pre-release state can also be displayed on the human-machine interface, and the parking space in the pre-release state is distinguished from the alternative parking space by, for example, a color box or a dashed box loaded on the icon.

[0057] A schematic diagram of the human-machine interface is shown, for example, in FIG. 7.

[0058] Next, in step S6, the stored first parking space image can be provided, for example, in the case that the first parking space is selected from the alternative parking spaces. Since the first parking space image of the first parking space is recorded in both the case that the first parking space is potentially parkable and the case that the first parking space is parkable according to the embodiments of the present disclosure, the first parking space image can always be provided in this step.

[0059] Providing the first parking space image can include, for example, displaying the stored first parking space image on the human-machine interface after selecting the first icon corresponding to the first parking space. In this way, the user can intuitively and clearly know the situation of the first parking space from the human-machine interface.

[0060] After selecting the first parking space and obtaining the first parking space image, it is determined whether the first parking space can be parked in, for example, by the vehicle using image processing techniques or by the user according to the human eye. In this case, supplementary information obtained from the parking space image, such as specific obstacles in the depth of the parking space, ground locks, special signs of the parking space, etc., makes it possible to make a more accurate determination of whether the parking space can be parked in.

[0061] Next, in step S7, for example, in the case where it is determined that the first parking space can be parked in according to the first parking space image, the first parking space is confirmed as a parking space, for example, automatically by the vehicle or by the user (for example, through user input on the human-machine interface). Of course, the user can also not confirm the first parking space as a parking space in the case where it is determined that the first parking space can be parked in, but continue to select other alternative parking spaces and view their parking space images to find whether there is a more preferred parking space. The "confirmation of the first parking space as a parking space" described in the present disclosure is intended to mean that the first parking space can be confirmed as a parking space, and is not limited to having to confirm the first parking space as a parking space.

[0062] According to embodiments of the present disclosure, when the map related to the parking space is cleared (for example, leaving the parking lot) or the vehicle exceeds a preset distance (for example, 50 meters) from the first parking space, the stored first parking space image is cleared if there is no release instruction for the first parking space, that is, when the first parking space only reaches the pre-release state and never reaches the release state, the stored first parking space image is cleared to release the storage space.

[0063] According to the method for confirming a parking space according to embodiments of the present disclosure, the parking space image is recorded in the above preferred manner using the pre-release state and the release state that usually exist in the parking space identification process, so that a more comprehensive and accurate parking space image reflecting the state of the parking space can be provided, which helps to make a better parking decision, greatly improves the success rate of the parking process and improves the user's parking experience.

[0064] FIG. 3 shows a schematic diagram of the application of confirming a parking space according to embodiments of the present disclosure in a top view.

[0065] As shown in FIG. 3, there are parking space P1, parking space P2, parking space P3, parking space P4 and parking space P5, wherein the vehicles are parked in parking space P1 and parking space P3 and cannot be parked, there is a ground lock in parking space P1 and it cannot be parked, and parking space P5 is a parking space for the disabled and cannot be parked for ordinary vehicles. The vehicle driving trajectory is from position A to position B to position C to position D. The first probability threshold and the second probability threshold are set to 30% and 80%, respectively, by way of example.

[0066] Exemplarily, when the vehicle is at position A, the parking space information of parking space PI and parking space P2 can be acquired and the parking probabilities of parking in them are determined respectively. Since a vehicle is parked on parking space PI and parking space P2 has a relatively rear ground lock, the determined parking probability of parking space PI is 10% and the determined parking probability of parking space P2 is 40% for example. Further comparison is made with the first probability threshold and the second probability threshold.

[0067] The parking probability of parking space PI is less than the first probability threshold.

[0068] The parking probability of parking space P2 is greater than the first probability threshold and less than the second probability threshold. Since there is no image recording instruction for parking space P2, the image recording instruction is provided so that the image recording device of the vehicle records the image of parking space P2 when passing through the preset position of parking space P2. At position A, parking space P2 is considered as potentially parkable and parking space P2 enters the pre-release state.

[0069] Exemplarily, when the vehicle is at position B, the parking space information of parking space PI, parking space P2, parking space P3 and parking space P4 can be acquired and the parking probabilities of parking in them are determined respectively. In this case, vehicles are parked on parking space PI and P3, parking space P2 has a relatively rear ground lock, and P4 is idle but its parking features such as corner points and parking lines are blocked by the larger vehicle on parking space P3 in the information acquisition direction of the vehicle, for example, the determined parking probability of parking space PI is 5%, the determined parking probability of parking space P2 is 85%, the determined parking probability of parking space P3 is 8%, and the determined parking probability of parking space P4 is 20%. Further comparison is made with the first probability threshold and the second probability threshold.

[0070] The parking probability of parking space PI is less than the first probability threshold.

[0071] The parking probability of parking space P2 is increased compared to position A and is greater than the second probability threshold, which can be caused by the vehicle being able to acquire more parking space information of parking space P2 at position B but not identifying the ground lock. Since there is already an image recording instruction for parking space P2, the image recording instruction is not provided again. At position B, parking space P2 is considered as parkable and parking space P2 is released as an alternative parking space, and the icon corresponding to parking space P2 is displayed on the human-computer interface for example and can be selected. At position B, the image recording device of the vehicle can have passed or not passed the preset position of parking space P2, but since the image recording instruction has been provided at position A, the image of parking space P2 is recorded when the image recording device passes the preset position of parking space P2.

[0072] The parking probability of parking space P3 is less than the first probability threshold.

[0073] The parking probability of parking space P4 is less than the first probability threshold.

[0074] Exemplarily, when the vehicle is at position C, the parking space information of parking space P2, parking space P3, parking space P4 and parking space P5 can be acquired and the parking probabilities of parking space P2, parking space P3, parking space P4 and parking space P5 are determined respectively. In this case, parking space P2 has a late barrier, parking space P3 has a vehicle parked thereon, parking space P4 is idle, and parking space P5 has a disabled parking space sign, for example, the determined parking probability of parking space P2 is 88%, the determined parking probability of parking space P3 is 5%, the determined parking probability of parking space P4 is 85%, and the determined parking probability of parking space P5 is 82%. Further comparison is made with the first probability threshold and the second probability threshold.

[0075] The parking probability of parking space P2 is still increased compared with that at position B and is greater than the second probability threshold, which can be caused by the fact that the vehicle has completely driven through parking space P2 and acquired the parking space information of parking space P2 which can be acquired substantially but failed to identify the barrier. At position C, parking space P2 has been released and the parking space image of parking space P2 has been recorded. An icon corresponding to parking space P2 is displayed on the human-machine interface for example and can be selected, and after the icon corresponding to parking space P2 is selected, the parking space image of parking space P2 is provided.

[0076] The parking probability of parking space P3 is less than the first probability threshold.

[0077] The parking probability of parking space P4 is greater than the second probability threshold. Compared with position B, the parking probability of parking space P4 changes from less than the first probability threshold to greater than the second probability threshold directly, which can be caused by the fact that the parking space information of parking space P4 is blocked before passing through parking space P3, and after passing through parking space P3, the high parking probability to parking space P4 can be determined by using a spatial perception technology for example. That is, parking space P4 does not experience a pre-release state but directly reaches a release state. At position C, parking space P4 is regarded as a parking space, and since there is no release instruction and image recording instruction for parking space P4, the release instruction and the image recording instruction are provided. Parking space P4 is released as an alternative parking space, and an icon corresponding to parking space P4 is displayed on the human-machine interface for example and can be selected. At position C, the image recording device can have passed or not passed the preset position of parking space P4, preferably, if the preset position of parking space P4 has been passed, the image recording is performed when the image recording instruction is provided, and if the preset position of parking space P4 has not been passed, the image recording is performed when the preset position of parking space P4 is passed.

[0078] The parking probability of parking space P5 is greater than the second probability threshold, which can be caused by the fact that the parking space information of parking space P5 is easily available but the vehicle does not recognize the disabled parking space sign. At position C, parking space P5 is considered as a parking space that can be parked in, and since there is no release instruction and image recording instruction for parking space P5, the release instruction and image recording instruction are provided. Parking space P5 is released as an alternative parking space, and an icon corresponding to parking space P5 is displayed on the human-machine interface, for example, and can be selected.

[0079] Exemplarily, when the vehicle is at position D, the parking space information of parking space P3, parking space P4 and parking space P5 can be obtained, and the parking probabilities that they can be parked in are determined respectively. In this case, there is a vehicle parked on P3, P4 is empty, and P5 has a disabled parking space sign, for example, and the determined parking probability of parking space P3 is 5%, the determined parking probability of parking space P4 is 88%, and the determined parking probability of parking space P5 is 88%. Further comparison is made with the first probability threshold and the second probability threshold.

[0080] The parking probability of parking space P3 is less than the first probability threshold.

[0081] The parking probability of parking space P4 is still increased compared to position C and is greater than the second probability threshold, and at position D, parking space P4 has been released and the parking space image of parking space P4 has been recorded. An icon corresponding to parking space P4 is displayed on the human-machine interface, for example, and can be selected, and after selecting the icon corresponding to parking space P4, the parking space image of parking space P4 is provided.

[0082] The parking probability of parking space P5 is still increased compared to position C and is greater than the second probability threshold, and at position D, parking space P5 has been released and the parking space image of parking space P5 has been recorded. An icon corresponding to parking space P5 is displayed on the human-machine interface, for example, and can be selected, and after selecting the icon corresponding to parking space P5, the parking space image of parking space P5 is provided.

[0083] At position D, although the parking space information of parking space P2 cannot be obtained, parking space P2 has been released as an alternative parking space and an icon corresponding to parking space P2 is displayed on the human-machine interface, for example, and can be selected. That is, when the user wants to drive a distance to find a more suitable parking space, the released parking space can remain released and its parking space image can still be provided.

[0084] After driving to position D, for example, if the user wishes to confirm a parking space for a parking-in process, the user learns from the human-machine interface that parking space P2, parking space P4 and parking space P5 are alternative parking spaces, for example. After selecting parking space P2, the user can observe a ground lock from the parking space image thereof, after selecting parking space P5, the user can observe a disabled parking space sign from the parking space image thereof, and after selecting parking space P4, the user can determine from the parking space image thereof that he / she can park. As a result, the user confirms parking space P2 as a parking space.

[0085] In the application of the method according to the present disclosure shown in FIG. 3, although parking spaces P2 and P5 are released by mistake, the parking-in process for parking spaces P2 and P5 is effectively avoided through the recording and confirmation of the parking space image, greatly improving the reliability of the parking process.

[0086] FIG. 4 shows a logic flow diagram of a method for confirming a parking space according to an embodiment of the present disclosure.

[0087] As shown in FIG. 4, in step S101, first parking space information of a first parking space is acquired.

[0088] In step S102, a parking probability of the first parking space that can be parked is determined according to the first parking space information.

[0089] In step S103, it is determined whether the parking probability is greater than a first probability threshold.

[0090] In the case of “No”, i.e., in the case that the parking probability is not greater than the first probability threshold, it is returned to step S101.

[0091] In the case of “Yes”, i.e., in the case that the parking probability is greater than the first probability threshold, it is further determined in step S104 whether the parking probability is greater than a second probability threshold.

[0092] In the case of “Yes”, i.e., in the case that the parking probability is greater than the second probability threshold, it is determined in step S105 whether there is a release instruction for the first parking space and it is determined in step S106 whether there is an image recording instruction for the first parking space.

[0093] In the case of “No”, i.e., in the case that the parking probability is not greater than the second probability threshold, it is determined in step S106 whether there is an image recording instruction for the first parking space.

[0094] For the result of the judgment of step S105: in "No", that is, in the case where there is no release instruction for the first parking space, the release instruction is provided in step S1051 and the first parking space is released as a candidate parking space based on the release instruction in step S107. In "Yes", that is, in the case where there is a release instruction for the first parking space, the first parking space is released as a candidate parking space based on the release instruction in step S107. In the present disclosure, "releasing the first parking space as a candidate parking space based on the release instruction" includes keeping the released first parking space released.

[0095] For the result of the judgment of step S106: in "No", that is, in the case where there is no image recording instruction for the first parking space, the image recording instruction is provided in step S1061 and the first parking space image of the first parking space is recorded and stored based on the image recording instruction in step S108. In "Yes", that is, in the case where there is an image recording instruction for the first parking space, the first parking space image of the first parking space is recorded and stored based on the image recording instruction in step S108. In the present disclosure, "recording and storing the first parking space image of the first parking space based on the image recording instruction" includes keeping the recorded and stored first parking space image.

[0096] After step S107, it is judged whether the first parking space selected as a candidate parking space, in "Yes", that is, in the case where the first parking space is selected, the first parking space image is provided in step S110, in "No", that is, in the case where the first parking space is not selected, the first parking space is kept released in step S1091.

[0097] After step S110, it is judged whether the first parking space is confirmed as a parking space, in "Yes", that is, in the case where the first parking space is confirmed as a parking space, the parking space for the parking process is confirmed in step S112, the method for confirming a parking space ends, in "No", that is, in the case where the first parking space is not confirmed as a parking space, the first parking space is kept released in step S1091.

[0098] That is, in the case where the first parking space is not selected or confirmed, it is still kept released and its parking space image can be provided.

[0099] With the logic flowchart shown in FIG. 4, for example, the method for confirming a parking space according to the embodiment of the present disclosure can be implemented in a computer-implemented manner.

[0100] FIG. 5 shows a schematic diagram of a parking space image according to the embodiment of the present disclosure.

[0101] By using the parking space image according to the embodiment of the present disclosure, it can be more real and comprehensive to determine whether the parking space can be parked, and effectively improve the accuracy of the parking process. The specific obstacles in the deep parking space, ground locks, special signs of the parking space and the like can be conveniently and accurately obtained from the parking space image.

[0102] FIG. 6 shows a schematic diagram of a parking system according to an embodiment of the present disclosure.

[0103] As shown in FIG. 6, the parking system 200 may, for example, include an information acquisition module 201, an image recording module 202, a storage module 203, a processing module 204 and a human-computer interaction module 205.

[0104] The information acquisition module 201 is used to acquire parking space information of a parking space, for example, and can acquire position and attitude information of the vehicle itself, so that the positional relationship between the vehicle and the parking space can be determined.

[0105] The image recording module 202 is used to record a parking space image of a parking space based on an image recording instruction for the parking space, for example.

[0106] The storage module 203 is used to store the recorded parking space image, for example.

[0107] The processing module 204 is used to determine a parking probability of a parking space according to the parking space information and compare the parking probability with a first probability threshold and a second probability threshold, for example, wherein the second probability threshold is greater than the first probability threshold.

[0108] In the case that the parking probability is greater than the first probability threshold and less than the second probability threshold, the processing module 204 provides an image recording instruction if there is no image recording instruction for the parking space in the parking system. In the case that the parking probability is greater than the second probability threshold, the processing module 204 provides a release instruction if there is no release instruction for the parking space, and provides an image recording instruction if there is no image recording instruction. The parking space image of the parking space is recorded and stored based on the image recording instruction, and the parking space is released as an alternative parking space based on the release instruction.

[0109] The human-computer interaction module 205 is used to provide a first parking space image in the case that a first parking space is selected from the alternative parking spaces, for example. The human-computer interaction module 205 may, for example, include a human-computer interface.

[0110] The advantages and design schemes of the method according to the embodiment of the present disclosure described above are also applicable to the parking system according to the embodiment of the present disclosure.

[0111] FIG. 7 shows a schematic diagram of a human-computer interface according to an embodiment of the present disclosure.

[0112] As shown in Fig. 7, the respective icons of the parking spaces X, Y, Z, which have been released and are alternative parking spaces, are displayed on the human-machine interface 2051, which icons can be selected, for example, in a touchable manner. The selected parking spaces are distinguished from the non-selected parking spaces, for example, by means of a dashed frame loaded on the icons. Alternatively, the parking space icons are shown in a manner associated with the actual position relationship of the parking spaces, in order to allow the user to better distinguish the individual alternative parking spaces and to recall the actual positions thereof.

[0113] Exemplarily, in the case of selection of the icon of the parking space Y, the recorded parking space image corresponding to the parking space Y is displayed in a new interface or in the interface common to the parking space icons, so that the user (or the vehicle) can acquire and observe the parking space image and further judge whether to confirm the parking space Y as a parking space.

[0114] Here, only the icons as alternative parking spaces are exemplarily shown, and it should be understood that the parking spaces in the pre-release state can also be displayed as needed. The parking spaces in the pre-release state are distinguished from the alternative parking spaces, for example, by means of a color frame loaded on the icons.

[0115] The human-machine interface according to the embodiments of the present disclosure is advantageous for the process of confirming a parking space in a manner of visualizing the parking spaces.

[0116] Fig. 8 shows a schematic diagram of a computer-readable storage medium 300 according to an embodiment of the present disclosure.

[0117] As shown in FIG. 8, the computer storage medium 300 has stored thereon computer readable instructions 301. The computer readable instructions 301, when executed by a processor, can perform a method according to embodiments of the present disclosure as described above. The computer readable storage medium in embodiments of the present disclosure can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memory. The non-volatile memory can be read only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as external cache. By way of example, and not limitation, many forms of RAM are available, for example, 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), SynchBurst synchronous dynamic random access memory (SLDRAM), and direct Rambus random access memory (DR RAM). It is to be noted that the memory of the method described herein is intended to include, but not be limited to, these and any other suitable types of memory. It is to be noted that the memory of the method described herein is intended to include, but not be limited to, these and any other suitable types of memory.

[0118] It should be noted that the flowchart and block diagrams in the drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams can represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently or the blocks can sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and / or flowchart illustrations, and combinations thereof, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or combinations of hardware and software.

[0119] In general, the various example embodiments of the disclosure can be implemented in hardware or special-purpose circuits, software, firmware, logic, or any combination thereof. Some aspects can be implemented in hardware, while other aspects can be implemented in firmware or software which can be executed by a controller, microprocessor or other computing device, Although the various example embodiments of the disclosure can be illustrated and described as block diagrams, flow charts, or using some other pictorial representation, it is well understood that these blocks, apparatus, systems, techniques or methods described herein can be implemented in, as non-limiting examples, hardware, software, firmware, special purpose circuits or logic, general purpose hardware or controler or other computing devices, or some combination thereof.

[0120] The example embodiments of the disclosure described in detail above are merely illustrative, and not restrictive. Those skilled in the art should understand that various modifications and combinations can be made to these embodiments or features thereof without departing from the principles and spirits of the disclosure, and such modifications should fall within the scope of the disclosure.

Claims

1. A method for confirming a parking space, comprising: - obtaining first parking space information of a first parking space; - determining a parkable probability of the first parking space based on the first parking space information; - comparing the parkable probability with a first probability threshold and a second probability threshold, wherein the second probability threshold is greater than the first probability threshold; wherein, • in case that the parkable probability is greater than the first probability threshold and less than the second probability threshold, providing an image recording instruction for the first parking space, or • in case that the parkable probability is greater than the second probability threshold, providing a release instruction for the first parking space, and providing the image recording instruction if the image recording instruction is not provided, wherein, - recording and storing a first parking space image of the first parking space based on the image recording instruction, - releasing the first parking space as an alternative parking space based on the release instruction; - providing the first parking space image in case that the first parking space is selected from the alternative parking space; and - confirming the first parking space as the parking space in case that the first parking space is determined to be parkable based on the first parking space image.

2. The method according to claim 1, wherein, the first parking space information comprises parking lines and / or corner points and / or one-piece space information and / or input information of a user.

3. The method of claim 1, wherein, the recording and storing of the first parking space image of the first parking space based on the image recording instruction comprises: - recording and storing the first parking space image when the image recording instruction is provided if an image recording device of the vehicle has passed a preset position of the first parking space when the image recording instruction is provided, or - recording and storing the first parking space image when the image recording device passes the preset position if the image recording device has not passed the preset position when the image recording instruction is provided.

4. The method according to claim 3, wherein, the preset position is a longitudinal mid-axis of the first parking space.

5. The method according to claim 1, wherein, the stored first parking space image is cleared if the release instruction is not provided when a map related to a parking space is cleared or the vehicle is out of the first parking space by a preset distance.

6. The method according to claim 1, wherein, the releasing of the first parking space as an alternative parking space comprises displaying a first icon corresponding to the first parking space that can be selected on a human-machine interface that can be operated, and wherein, the providing of the first parking space image comprises displaying the stored first parking space image on the human-machine interface after the first icon is selected.

7. The method according to claim 1, wherein, whether the first parking space is parkable is determined by the vehicle or a user based on the first parking space image.

8. A parking system, comprising: - an information obtaining module for obtaining parking space information of a parking space, and capable of obtaining position and attitude information of a vehicle itself; - an image recording module for recording a parking space image of the parking space based on an image recording instruction for the parking space. - a storage module for storing the recorded parking space image; - a processing module for determining a parking probability of the parking space from the parking space information and comparing the parking probability with a first probability threshold and a second probability threshold, wherein the second probability threshold is greater than the first probability threshold; wherein, • in case the parking probability is greater than the first probability threshold and less than the second probability threshold, providing the image recording instruction if the image recording instruction is not present in the parking system, or • in case the parking probability is greater than the second probability threshold, providing a release instruction for the parking space if the release instruction is not present and providing the image recording instruction if the image recording instruction is not present, wherein, a parking space image of the parking space is recorded and stored based on the image recording instruction and the parking space is released as an alternative parking space based on the release instruction; and - a human-machine interaction module for providing the first parking space image in case the first parking space is selected from the alternative parking spaces.

9. The parking system according to claim 8, wherein the processing module determines whether the first parking space can be parked based on the first parking space image, and wherein in case the first parking space is determined to be parkable, the first parking space is confirmed as the parking space.

10. A motor vehicle comprising the parking system according to claim 8 or 9 and / or being capable of performing the method according to any one of claims 1 to 8.

11. A computer-readable storage medium having stored thereon computer- executable instructions for implementing the method according to any one of claims 1 to 8 when executed by a processor. ​

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