Memory parking route drawing method, and electronic device and program product

Abstract

A memory parking route drawing method, and an electronic device and a program product, which relate to the technical field of intelligent driving. The method comprises: acquiring information regarding parking lot environmental elements that is collected in real time by a target vehicle along a memory parking route; on the basis of the information regarding the parking lot environmental elements that is collected in real time, drawing in real time a three-dimensional model of a parking lot along the memory parking route, acquiring a target-floor parking lot, to which the target vehicle travels across floors, when it is determined that the target vehicle travels across the floors, and drawing a three-dimensional model of the target-floor parking lot, to which the target vehicle travels across the floors, until the target vehicle is parked into a target parking space, so as to obtain a final memory parking route model; and on the basis of the memory parking route model, displaying a complete recorded parking route. The method solves the problem in the prior art of the displaying of a memory parking route being limited to local information of a single floor.

Description

Methods for drawing parking routes in memory, electronic devices and software products Technical Field

[0001] This disclosure relates to the field of intelligent driving technology, specifically to a method for drawing parking routes, an electronic device, and a program product. Background Technology

[0002] Currently, in scenarios involving multi-space, multi-level memory parking, the main approach is to set the projection angle of the in-vehicle screen to a 90° overhead view. This allows for a top-down display of the single-level parking environment information, while the multi-level ramp environment is not shown; only the level cruising environment is displayed. This strategy is used to adapt to multi-level parking environments.

[0003] It is evident that in traditional memory parking solutions, the parking route display is limited to local information on a single floor, making it difficult for users to intuitively understand the specific spatial location of the vehicle during cruising. The local view display can no longer meet user needs. Summary of the Invention

[0004] In view of this, the present disclosure provides a method, electronic device and program product for drawing memory parking routes, in order to solve the problem that the display of memory parking routes in the prior art is limited to local information of a single floor.

[0005] Firstly, this disclosure provides a method for drawing memory parking routes, including:

[0006] Acquire information on parking lot environmental elements collected in real time along the memory parking route for the target vehicle;

[0007] Based on the real-time collected information on parking environment elements, the system draws a 3D model of the parking lots along the memory parking route in real time. When the target vehicle is determined to be driving across layers, the system obtains the target layer parking lot to which the vehicle is driving and draws a 3D model of the target layer parking lot to which the vehicle is driving across layers. This process continues until the target vehicle is parked in the target parking space, resulting in the final memory parking route model.

[0008] The memory-based parking route model displays the complete recorded parking route.

[0009] Secondly, this disclosure provides a memory parking route drawing device, comprising:

[0010] The acquisition module is used to acquire information about parking lot environmental elements collected in real time along the memory parking route of the target vehicle;

[0011] The module is used to draw 3D models of parking lots along the memory parking route in real time based on the information of parking lot environmental elements collected in real time. When it is determined that the target vehicle is driving across layers, the module obtains the target layer parking lot to which the vehicle is driving across layers and draws the 3D model of the target layer parking lot to which the vehicle is driving across layers until the target vehicle is parked in the target parking space, thus obtaining the final memory parking route model.

[0012] The display module is used to display the complete recorded parking route based on the memory parking route model.

[0013] Thirdly, this disclosure provides an electronic device, including:

[0014] At least one processor; and

[0015] A memory that is communicatively connected to at least one processor; wherein,

[0016] The memory stores at least one computer program that can be executed by at least one processor, the at least one computer program being executed by at least one processor to enable at least one processor to perform the memory parking route drawing method as described in the first aspect.

[0017] Fourthly, this disclosure provides a computer program product, which includes a computer program that, when run in a processor, implements the memory parking route drawing method described in the first aspect.

[0018] Fifthly, this disclosure provides a non-temporary storage medium for storing a computer program that, when executed by a processor, implements the memory parking route drawing method described in the first aspect.

[0019] The embodiments provided in this disclosure acquire information on parking environment elements collected in real time along the memory parking route for the target vehicle. Based on the information on parking environment elements collected in real time, a three-dimensional model of the parking lot along the memory parking route is drawn in real time. When it is determined that the target vehicle is driving across layers, the target layer parking lot to which the vehicle is driving across layers is acquired, and a three-dimensional model of the target layer parking lot to which the vehicle is driving across layers is drawn. This process continues until the target vehicle parks in the target parking space, resulting in the final memory parking route model. This memory parking route model includes all parking environment elements along the complete memory parking route, and the complete recorded parking route can be displayed based on the memory parking route model. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0021] Figure 1 shows a schematic flowchart of the memory parking route drawing method in an embodiment of this disclosure.

[0022] Figure 2 shows a schematic diagram of the virtual camera's viewing angle configuration in an embodiment of this disclosure.

[0023] Figure 3 shows a schematic diagram of a continuously straight, ultra-long route in an embodiment of this disclosure.

[0024] Figure 4 shows a schematic diagram of a superelevation route that spans multiple layers in an embodiment of this disclosure.

[0025] Figure 5 is a schematic diagram of the creation and display of a memory parking route in an embodiment of this disclosure.

[0026] Figure 6 shows a schematic diagram of the memory parking route drawing device in an embodiment of this disclosure.

[0027] Figure 7 shows a schematic diagram of the structure of the electronic device in an embodiment of this disclosure. Detailed Implementation

[0028] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0029] Where there is no conflict, the various embodiments of this disclosure and the features thereof in the embodiments may be combined with each other.

[0030] As used herein, the term “and / or” includes any and all combinations of one or more related enumerated entries.

[0031] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this disclosure. As used herein, the singular forms “a” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that when the terms “comprising” and / or “made of” are used in this specification, the presence of the stated feature, integral, step, operation, element, and / or component is specified, but the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or groups thereof is not excluded. Words such as “connected” or “linked” are not limited to physical or mechanical connections but can include electrical connections, whether direct or indirect.

[0032] Unless otherwise specified, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art. It will also be understood that terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant art and this disclosure, and will not be interpreted as having an idealized or overly formal meaning, unless expressly so defined herein.

[0033] This disclosure provides a method for drawing parking routes in memory, as shown in Figure 1. The method mainly includes the following steps:

[0034] Step 101: Obtain information on parking lot environmental elements collected in real time along the memory parking route for the target vehicle.

[0035] In some embodiments, parking lot environmental elements include: environmental elements at the road starting point of the memory parking route; environmental elements at the road ending point of the memory parking route; and environmental elements along the driving route of the memory parking route.

[0036] In the exemplary embodiment, environmental elements include parking space frames and parking lot traffic elements, which include, but are not limited to: ground, roads, pillars, walls, speed bumps, and obstacles (traffic cones, parking barriers, no-parking signs, standard poles, crash barriers, water-filled barriers, flexible reflective posts, and wheel chocks).

[0037] In some embodiments, the target vehicle supports the memory parking function. Before performing step 101, the target vehicle activates the memory parking function and creates a memory parking route.

[0038] Specifically, it determines whether a memory parking route model exists for the corresponding parking lot.

[0039] If available, the existing memory parking route model will be used directly for memory parking, or a prompt will be made to recreate the memory parking route model for the corresponding parking lot and overwrite the original memory parking route model for that parking lot, prompting the user to drive the target vehicle to the starting point of the memory parking route.

[0040] If not, create a memory parking route model for the corresponding parking lot and prompt the user to drive the target vehicle to the starting point of the memory parking route.

[0041] In some embodiments, the perception radar and camera of the target vehicle's Advanced Driver Assistance System (ADAS) collect information about parking lot environmental elements in real time. The images of the parking lot environmental elements collected in real time by the camera are primarily used to identify these elements, while the signals collected in real time by the perception radar are primarily used to determine the relative position with the target vehicle. Of course, this is merely an example; other sensors capable of detecting surrounding environmental information can also be used to collect information about parking lot environmental elements, and this is not a limitation.

[0042] Step 102: Based on the real-time collected information on parking lot environmental elements, draw a 3D model of the parking lots along the memory parking route in real time. When the target vehicle is determined to be driving across layers, obtain the target layer parking lot to which the vehicle is driving across layers and draw a 3D model of the target layer parking lot to which the vehicle is driving across layers until the target vehicle is parked in the target parking space, and obtain the final memory parking route model.

[0043] In some embodiments, the information of parking environment elements includes spatial location information of parking environment elements; based on the information of parking environment elements collected in real time, a three-dimensional model of parking lots along the memory parking route is drawn in real time, including: based on the spatial location information of parking environment elements collected in real time, a three-dimensional virtual model of parking environment elements is drawn in real time to constitute a three-dimensional model of parking lot.

[0044] In some embodiments, the spatial location information of the parking lot environmental elements includes: a first coordinate value of the parking lot environmental element on a first coordinate axis, a second coordinate value on a second coordinate axis, and a third coordinate value on a third coordinate axis; wherein, the first coordinate axis is parallel to the ground and points in front of the vehicle, the second coordinate axis is parallel to the ground and points to the driver's left, and the third coordinate axis passes through the center point of the rear axle of the vehicle.

[0045] For example, the X-axis is defined as the line parallel to the ground pointing forward of the vehicle; the Y-axis is defined as the line parallel to the ground pointing to the driver's left; and the Z-axis, pointing upwards from the center point of the vehicle's rear axle, represents road information. When the target vehicle is traveling on level ground, the Z-axis coordinate is 0.

[0046] The spatial location information of parking lot environmental elements collected in real time is saved sequentially so that it can be read during the real-time rendering of the 3D model.

[0047] In some embodiments, determining that a target vehicle is traveling across levels includes: determining that the target vehicle is traveling across levels when the change in height of the target vehicle relative to its level-based driving state exceeds a preset threshold. Here, the change in height of the target vehicle relative to its level-based driving state can accurately identify whether cross-level driving has occurred.

[0048] The preset threshold is pre-set, and its specific value is determined based on the floor height of a single floor in a multi-story parking garage. For example, the preset threshold is equal to the floor height of a single floor, or the preset threshold is the difference between the preset threshold and the floor height of a single floor within a preset range.

[0049] Assume the preset threshold equals the single-level floor height. When the target vehicle is traveling on a level surface, its Z-axis coordinate is 0, indicating a height of 0. When the target vehicle is traveling off-level, its Z-axis coordinate is its height relative to the level surface, representing the height change. This height change is compared to the single-level floor height; if it exceeds the single-level floor height, the target vehicle is determined to be traveling across levels.

[0050] For example, the intelligent driving navigation unit (ADPU) calculates the Z-axis coordinate value based on the height value of the target vehicle. When the Z-axis coordinate value, i.e. the height value, exceeds 2 meters (i.e., the preset threshold), the vehicle moves from the current layer to the next layer, and the rendering of the next layer is displayed.

[0051] In some embodiments, obtaining the target parking level reached by the vehicle after crossing levels includes: obtaining the final height value of the target vehicle at the end of its journey along the ramp; determining the height change value of the final height value relative to the target vehicle's level driving state; comparing the height change value with a preset floor height value; and determining the target parking level reached by the vehicle after crossing levels based on the comparison result. Here, the target parking level after the ramp journey can be determined by comparing the height change value of the target vehicle throughout its journey along the ramp with the preset floor height value.

[0052] In the exemplary embodiment, the height change value is divided by the preset floor height value, and the integer part of the quotient is used as the number of floors crossed. The number of floors crossed is added to the number of floors at the start of the ramp driving to obtain the number of floors of the target floor parking lot.

[0053] In an exemplary embodiment, the driving gradient value of the target vehicle is compared with a preset gradient value, and the target vehicle is determined to drive on the slope based on the comparison result. The preset gradient value is a commonly used gradient value for pre-configured parking lot slopes; for example, the preset gradient value is 15°. If the driving gradient value of the target vehicle is greater than 15°, it is determined that the target vehicle is driving along the slope.

[0054] In the exemplary embodiment, to prevent data jitter and ensure the accuracy of the 3D model, when the target vehicle completes cross-level driving (i.e., the slope is greater than 15°), the ADAS slope stabilization algorithm performs noise reduction processing on the Z-axis coordinate values ​​of the target vehicle. Coordinate values ​​that jump in the continuously collected Z-axis coordinate value sequence are filtered out. By filtering out interference values ​​in the Z-axis coordinate values, the true cross-level information is preserved to the greatest extent possible.

[0055] Specifically, when the target vehicle travels on a level, its Z-axis coordinate value is fixed at 0. When the target vehicle travels across levels, the ADAS system records the actual Z-axis coordinate value. When the target vehicle travels on a level, the ADAS system performs noise reduction and fixation processing on the spatial Z-value. The specific process of noise reduction and fixation is as follows: a small number of non-zero Z-axis coordinate values ​​are collected during level travel and used as noise to remove noise.

[0056] The target vehicle parks in the target parking space, the memorized parking route reaches its destination, and the collection of parking lot environmental elements is completed. Based on the collected information of the parking lot environmental elements of the entire memorized parking route, a complete memorized parking route model is constructed and stored. This method of constructing the memorized parking route model has no requirements on the parking lot environment and can be used at the parking lot after completing one route learning, allowing for lifelong use after a single learning.

[0057] Step 103: Display the complete recorded parking route based on the memory parking route model.

[0058] In some embodiments, displaying the complete recorded parking route based on the memory parking route model includes: acquiring the virtual camera's viewpoint when the target vehicle initiates memory parking; rendering and displaying the memory parking route within the virtual camera's viewpoint and the constructed memory parking route model, thereby displaying the complete memory parking route.

[0059] In an exemplary embodiment, a corresponding virtual camera viewing angle is pre-configured for different driving states of the target vehicle, or the same virtual camera viewing angle is pre-configured for different driving states of the target vehicle. For example, referring to Figure 2, when the target vehicle is in the initial state or cruising state, the virtual camera viewing angle is 45° behind the vehicle; when the target vehicle is in mapping driving state, the virtual camera viewing angle is 45° to the right rear of the vehicle; when the target vehicle is in parking or stopped driving state, the virtual camera viewing angle is 75° behind the vehicle; when the target vehicle is in automatic parking driving state, the virtual camera viewing angle is 90° directly behind the vehicle; when the parking route overview state is in full view state, the virtual camera viewing angle is 60° of the entire map; when the target vehicle is in cross-level driving state, the virtual camera viewing angle is 45° or -45° behind the vehicle.

[0060] Based on this, the virtual camera's viewing angle is obtained, including: obtaining the viewing angle corresponding to the driving state of the target vehicle.

[0061] For example, after the target vehicle drives to the target parking space and completes route learning, the ADAS system transmits the denoised real coordinates to the vehicle's infotainment domain controller in the cockpit. The infotainment system maps the real coordinates to the restored world coordinate model for rendering, and determines the virtual camera's viewing angle based on the restored world coordinates, not limited to a top-down view, and renders and displays it on the infotainment interface.

[0062] In some embodiments, rendering and displaying the memory parking route within the field of view of the virtual camera, based on the virtual camera's viewing angle and the constructed memory parking route model, and displaying the complete memory parking route, includes: scaling the constructed memory parking route model when the complete memory parking route cannot be displayed within the field of view of the screen; and rendering and displaying the memory parking route within the field of view of the virtual camera based on the virtual camera's viewing angle and the scaled memory parking route model, so as to display the complete memory parking route.

[0063] When the vehicle's infotainment system renders and displays routes that are outside the visible range, including extremely long straight routes as shown in Figure 3 and extremely high routes that span multiple layers as shown in Figure 4, the view of the route screen will be dynamically scaled to ensure that the complete memory parking route is displayed on the screen. This helps users quickly preview the parking environment information of the target vehicle in complex scenes and ensures that no global information is missed.

[0064] In some embodiments, the method further includes performing at least one of the following operations on the displayed 3D view through the vehicle interface: dragging, rotating, zooming in, zooming out, etc.

[0065] In an exemplary embodiment, as shown in Figure 5, the process of creating and displaying a memory parking route is as follows: After the user clicks the memory parking application, it is determined whether a memory route exists in the parking environment. If so, a prompt is given to overwrite the route and recreate it; otherwise, the creation of the memory parking route begins. Through spatial modeling, the coordinates of the collected real parking environment elements are mapped and recorded into a 3D model. During the construction of the 3D model, it is determined whether the vehicle crosses a ramp. If it crosses a ramp, the ADPU calculates the Z-axis coordinate value of the vehicle's spatial height, denoises it using a ramp stabilization model, and updates and records the coordinates of the real parking environment elements in real time. The coordinates of the denoised real parking environment elements are mapped onto the 3D model. It is determined whether the 3D model exceeds the visible range. If so, the 3D model is scaled, and the memory parking route is rendered and displayed based on the restored world coordinates in the 3D model and the visible view of the virtual camera.

[0066] The embodiments provided in this disclosure acquire information on parking environment elements collected in real time along the memory parking route for the target vehicle. Based on the information on parking environment elements collected in real time, a three-dimensional model of the parking lot along the memory parking route is drawn in real time. When it is determined that the target vehicle is driving across layers, the target layer parking lot to which the vehicle is driving across layers is acquired, and a three-dimensional model of the target layer parking lot to which the vehicle is driving across layers is drawn. This process continues until the target vehicle parks in the target parking space, resulting in the final memory parking route model. This memory parking route model includes all parking environment elements along the complete memory parking route, and the complete recorded parking route can be displayed based on the memory parking route model.

[0067] The embodiments provided in this disclosure can solve the problem of real-time positioning and rendering display in multiple spaces and multiple floors during the memory parking cruise process. During the memory parking route learning process, the vehicle identifies the surrounding environment through multiple sensors and records environmental data across multiple spaces and floors, completing the mapping from the real environment to the three-dimensional model. This allows the vehicle's position and cross-floor global information to be displayed in real time during the memory parking route cruise, adapting to the needs of complex scenarios and improving the user experience.

[0068] It is understood that the various method embodiments mentioned above in this disclosure can be combined with each other to form combined embodiments without violating the principle and logic. Due to space limitations, this disclosure will not elaborate further. Those skilled in the art will understand that in the above methods of specific implementation, the specific execution order of each step should be determined by its function and possible internal logic, and the execution order between steps is not limited to implementation according to step number.

[0069] In addition, this disclosure also provides a memory parking route drawing device, electronic equipment, and computer program products, all of which can be used to implement any of the memory parking route drawing methods provided in this disclosure. The corresponding technical solutions and descriptions are described in the corresponding descriptions in the method section, and will not be repeated here.

[0070] Figure 6 is a block diagram of a memory parking route drawing device provided in an embodiment of this disclosure. The model matching device mainly includes:

[0071] The acquisition module 601 is used to acquire information on parking lot environmental elements collected in real time along the memory parking route of the target vehicle;

[0072] The construction module 602 is used to draw a 3D model of the parking lots along the memory parking route in real time based on the information of the parking lot environmental elements collected in real time, and when it is determined that the target vehicle is driving across layers, it obtains the target layer parking lot to which the vehicle is driving across layers, draws a 3D model of the target layer parking lot to which the vehicle is driving across layers, until the target vehicle is parked in the target parking space, and obtains the final memory parking route model.

[0073] Display module 603 is used to display the complete recorded parking route based on the memory parking route model.

[0074] In one embodiment, the information of the parking lot environmental elements includes the spatial location information of the parking lot environmental elements; the construction module 602 is specifically used to draw a three-dimensional virtual model of the parking lot environmental elements in real time based on the spatial location information of the parking lot environmental elements collected in real time, so as to form a three-dimensional model of the parking lot.

[0075] In one embodiment, the spatial location information of the parking lot environmental elements includes: a first coordinate value of the parking lot environmental elements on a first coordinate axis, a second coordinate value on a second coordinate axis, and a third coordinate value on a third coordinate axis; wherein, the first coordinate axis is parallel to the ground and points in front of the vehicle, the second coordinate axis is parallel to the ground and points to the driver's left, and the third coordinate axis passes through the center point of the rear axle of the vehicle.

[0076] In one embodiment, the construction module 602 is used to determine that the target vehicle is traveling across levels when the height change value of the target vehicle relative to the level driving state exceeds a preset threshold.

[0077] In one embodiment, the construction module 602 is used to obtain the end height value of the target vehicle at the end time of the target vehicle's travel along the ramp; determine the height change value of the end height value relative to the target vehicle's level driving state; compare the height change value with a preset floor height value, and determine the target floor parking lot to which the target vehicle crosses floors based on the comparison result.

[0078] In one embodiment, the parking lot environmental elements include: environmental elements at the road starting point of the memory parking route; environmental elements at the road ending point of the memory parking route; and environmental elements along the driving route of the memory parking route.

[0079] In one embodiment, the display module 603 is used to acquire the virtual camera's view angle when the target vehicle initiates memory parking; based on the virtual camera's view angle and the constructed memory parking route model, render and display the memory parking route within the virtual camera's view range, and display the complete memory parking route.

[0080] In one embodiment, the display module 603 is used to scale the constructed memory parking route model when the complete memory parking route cannot be displayed in the field of view of the screen, and render and display the memory parking route within the field of view of the virtual camera according to the virtual camera's viewing angle and the scaled memory parking route model, so as to display the complete memory parking route.

[0081] In one embodiment, the display module 603 is used to obtain a visual angle corresponding to the driving state of the target vehicle.

[0082] In one embodiment, the acquisition module 601 is further configured to activate the memory parking function of the target vehicle and create a memory parking route before acquiring information on parking environment elements collected in real time along the memory parking route of the target vehicle.

[0083] Each module in the aforementioned model matching device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the operations corresponding to each module.

[0084] Figure 7 is a block diagram of an electronic device provided in an embodiment of this disclosure.

[0085] Referring to FIG7, an embodiment of this disclosure provides an electronic device, which includes: at least one processor 701; at least one memory 702; and one or more I / O interfaces 703 connected between the processor 701 and the memory 702; wherein the memory 702 stores one or more computer programs that can be executed by at least one processor 701, and the one or more computer programs are executed by at least one processor 701 to enable at least one processor 701 to execute the above-described memory parking route drawing method.

[0086] The modules in the aforementioned electronic devices can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0087] This disclosure also provides a computer program product, including a computer program that, when run in a processor, implements the above-described memory parking route drawing method.

[0088] Computer programs can be stored on readable storage media of a computer device or in the cloud; the processor of a computer device reads computer programs from readable storage media or in the cloud.

[0089] The aforementioned computer program product can be implemented through hardware, software, or a combination thereof. In one optional embodiment, the computer program product is specifically manifested as a computer storage medium; in another optional embodiment, the computer program product is specifically manifested as a software product, such as a software development kit (SDK), etc.

[0090] This disclosure also provides a non-temporary storage medium, including a computer program, which stores the computer program and is executed by a processor to implement the above-described memory parking route drawing method.

[0091] Those skilled in the art will understand that all or some of the steps, systems, and apparatuses disclosed above, and their functional modules / units, can be implemented as software, firmware, hardware, or suitable combinations thereof. In hardware implementations, the division between functional modules / units mentioned above does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed collaboratively by several physical components. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit (ASIC). Such software can be distributed on a computer-readable storage medium, which may include computer storage media (or non-transitory media) and communication media (or transient media).

[0092] As is known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable program instructions, data structures, program modules, or other data). Computer storage media includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), static random access memory (SRAM), flash memory or other memory technologies, portable compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, it is known to those skilled in the art that communication media typically contain computer-readable program instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0093] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to the computer-readable storage media in the respective computing / processing device.

[0094] Computer program instructions used to perform the operations of this disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, status setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuitry, such as programmable logic circuitry, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), is personalized by utilizing the status information of the computer-readable program instructions to implement various aspects of this disclosure.

[0095] The computer program product described herein can be implemented specifically through hardware, software, or a combination thereof. In one alternative embodiment, the computer program product is specifically embodied in a computer storage medium; in another alternative embodiment, the computer program product is specifically embodied in a software product, such as a software development kit (SDK), etc.

[0096] Various aspects of this disclosure are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0097] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processor of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner; thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0098] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0099] The flowcharts and block diagrams in the accompanying 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 a flowchart or block diagram may represent a module, segment, or portion of an instruction containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0100] The above description is merely a preferred embodiment of this disclosure and is not intended to limit this disclosure. Any modifications or equivalent substitutions made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A method for drawing parking routes based on memory, characterized in that, include: Acquire information on parking lot environmental elements collected in real time along the memory parking route for the target vehicle; Based on the real-time collected information of the parking lot environment elements, a three-dimensional model of the parking lots along the memory parking route is drawn in real time. When it is determined that the target vehicle is driving across layers, the target layer parking lot to which the vehicle is driving across layers is obtained, and a three-dimensional model of the target layer parking lot to which the vehicle is driving across layers is drawn. This process continues until the target vehicle is parked in the target parking space, resulting in the final memory parking route model. The complete recorded parking route is displayed based on the memory parking route model.

2. The method according to claim 1, characterized in that, The information of the parking lot environmental elements includes the spatial location information of the parking lot environmental elements; The step of drawing a 3D model of the parking lots along the memory parking route in real time based on the information of the parking lot environmental elements collected in real time includes: Based on the spatial location information of the parking lot environmental elements collected in real time, a three-dimensional virtual model of the parking lot environmental elements is drawn in real time to form a three-dimensional model of the parking lot.

3. The method according to claim 2, characterized in that, The spatial location information of the parking lot environmental elements includes: the first coordinate value of the parking lot environmental element on the first coordinate axis, the second coordinate value on the second coordinate axis, and the third coordinate value on the third coordinate axis; The first coordinate axis is parallel to the ground and points in front of the vehicle, the second coordinate axis is parallel to the ground and points to the driver's left, and the third coordinate axis passes through the center point of the vehicle's rear axle.

4. The method according to claim 1, characterized in that, Determining that the target vehicle travels across levels includes: If the height change of the target vehicle relative to its level-based driving state exceeds a preset threshold, it is determined that the target vehicle is driving across levels.

5. The method according to claim 4, characterized in that, The process of obtaining the target parking level reached by cross-level driving includes: At the end of the target vehicle's journey along the ramp, the final height value of the target vehicle is obtained; Determine the height change value of the end height relative to the target vehicle's level driving state; The height change value is compared with the preset floor height value, and the target floor parking lot to which the target vehicle crosses floors is determined based on the comparison result.

6. The method according to any one of claims 1 to 5, characterized in that, The parking lot environmental elements include: environmental elements at the road starting point of the memory parking route; environmental elements at the road ending point of the memory parking route; and environmental elements along the driving route of the memory parking route.

7. The method according to any one of claims 1 to 6, characterized in that, The parking route model based on the memory displays the complete recorded parking route, including: When the target vehicle initiates memory parking, the virtual camera's field of view is acquired; Based on the virtual camera's viewing angle and the constructed memory parking route model, the image of the memory parking route within the virtual camera's viewing range is rendered and displayed, thus displaying the complete memory parking route.

8. The method according to claim 7, characterized in that, Based on the virtual camera's viewing angle and the constructed memory parking route model, the image of the memory parking route within the virtual camera's field of view is rendered and displayed, ensuring the complete memory parking route is shown, including: When the complete memory parking route cannot be displayed within the field of view, the constructed memory parking route model is scaled up. Based on the virtual camera's viewing angle and the scaled memory parking route model, the image of the memory parking route within the virtual camera's field of view is rendered and displayed, so that the complete memory parking route can be displayed.

9. The method according to claim 7, characterized in that, The acquisition of the virtual camera's field of view includes: Based on the driving state of the target vehicle, obtain the visual angle corresponding to the driving state.

10. The method according to any one of claims 1 to 9, characterized in that, Before performing the step of acquiring information on parking environment elements collected in real time along the memory parking route for the target vehicle, the method further includes: Activate the memory parking function of the target vehicle and create the memory parking route.

11. A memory parking route drawing device, characterized in that, include: The acquisition module is used to acquire information about parking lot environmental elements collected in real time along the memory parking route of the target vehicle; The module is used to draw a 3D model of the parking lots along the memory parking route in real time based on the information of the parking lot environmental elements collected in real time. When it is determined that the target vehicle is driving across layers, the module obtains the target layer parking lot to which the vehicle is driving across layers and draws a 3D model of the target layer parking lot to which the vehicle is driving across layers until the target vehicle parks in the target parking space, thus obtaining the final memory parking route model. The display module is used to display the complete recorded parking route based on the memory parking route model.

12. An electronic device, characterized in that, include: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores at least one computer program that can be executed by the at least one processor, the at least one computer program being executed by the at least one processor to enable the at least one processor to perform the memory parking route drawing method as described in any one of claims 1 to 10.

13. A computer program product, characterized in that, The computer program product includes a computer program that, when run in a processor, implements the memory parking route drawing method as described in any one of claims 1 to 10.

14. A non-transitory storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the memory parking route drawing method as described in any one of claims 1 to 10.

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