CN110956847B

CN110956847B - Parking space identification method and device and storage medium

Info

Publication number: CN110956847B
Application number: CN201911326216.6A
Authority: CN
Inventors: 陈海鸥; 姜灏; 徐达学; 周倪青; 王萍; 陈健昕; 董金龙
Original assignee: Chery Automobile Co Ltd
Current assignee: Chery Automobile Co Ltd
Priority date: 2019-12-20
Filing date: 2019-12-20
Publication date: 2021-11-30
Anticipated expiration: 2039-12-20
Also published as: CN110956847A

Abstract

The application discloses a parking space identification method and device and a storage medium, and belongs to the technical field of vehicle engineering. The method comprises the following steps: in the driving process, determining the position information of a reference point of a target reference vehicle positioned in the driving direction of the vehicle in a plane coordinate system, wherein the plane coordinate system is a coordinate system which is established by taking the central point of the rear wheel base of the vehicle as an origin, taking the driving direction as the forward direction of a longitudinal axis and taking the right side of the driving direction as the forward direction of a transverse axis; determining whether the space to be identified adjacent to the target reference vehicle meets a parking space condition or not according to the position information of the reference point; and when the space to be identified meets the parking space condition, determining that the space to be identified is a parking space which can be used for parking so as to finish parking space identification. According to the parking space identification method and device, whether the space to be identified adjacent to the target reference vehicle is a parking space or not is identified through the target reference vehicle and the position information of the reference point of the target reference vehicle, and therefore the accuracy and the reliability of parking space identification are improved.

Description

Parking space identification method and device and storage medium

Technical Field

The application relates to the technical field of vehicle engineering, in particular to a parking space identification method and device and a storage medium.

Background

With the continuous development of automotive electronic technology, automobiles gradually become the main means of transportation for people going out. However, as the number of automobiles increases, the number of parking spaces of the automobiles is smaller and smaller, and the parking of the automobiles is more and more difficult. Therefore, the driver can park the vehicle through the automatic parking system of the automobile, so that the parking difficulty is reduced. When automatic parking is performed, the vehicle is generally required to identify the parking space.

At present, when a car is used for identifying a parking space, the car is generally identified through a camera. To the parking stall that has the car position line, available parking stall can effectively be discerned to the camera, but, because parking stall line length of time exposes, lead to the car position line to blur or sheltered from, perhaps light is darker, when the sight is obstructed, the camera probably can't discern the car position line, and then leads to unable discernment parking stall.

Disclosure of Invention

The application provides a parking space identification method and device and a storage medium, which can solve the problem of low reliability of parking space identification in the related technology. The technical scheme is as follows:

on the one hand, a parking space identification method is provided, and the method comprises the following steps:

in the driving process, determining the position information of a reference point of a target reference vehicle positioned in the driving direction of the vehicle in a plane coordinate system, wherein the plane coordinate system is a coordinate system which is established by taking the central point of the rear wheel base of the vehicle as an origin, taking the driving direction as the forward direction of a longitudinal axis and taking the right side of the driving direction as the forward direction of a transverse axis;

determining whether the space to be identified adjacent to the target reference vehicle meets a parking space condition or not according to the position information of the reference point;

and when the space to be identified meets the parking space condition, determining that the space to be identified is a parking space which can be used for parking so as to finish parking space identification.

In some embodiments, the determining the position information of the reference point of the target reference vehicle located in the driving direction of the vehicle in the plan work and rest includes:

when the target reference vehicle comprises a first reference vehicle and a second reference vehicle, determining position information of a first reference point and a second reference point of the first reference vehicle in the coordinate system and position information of a third reference point and a fourth reference point of the second reference vehicle in the coordinate system, wherein the first reference vehicle is a first vehicle passing by the vehicle when the vehicle runs according to the running direction, the second reference vehicle is a second vehicle passing by the vehicle when the vehicle runs according to the running direction, the first reference point and the second reference point are two frame points located at the left and right positions of a vehicle body of the first reference vehicle, and the third reference point and the fourth reference point are two frame points located at the left and right positions of the vehicle body of the second reference vehicle;

determining location information of a first reference point and a second reference point in the first reference vehicle in the coordinate system when the target reference vehicle includes the first reference vehicle and does not include the second reference vehicle.

In some embodiments, the target reference vehicle comprises a first reference vehicle and a second reference vehicle, the reference points comprising a first reference point and a second reference point in the first reference vehicle, and a third reference point and a fourth reference point of the second reference vehicle;

the step of determining whether the space to be identified adjacent to the target reference vehicle meets the parking space condition or not according to the position information of the reference point comprises the following steps:

determining a first vertical coordinate difference value between the second reference point and the first reference point, a second vertical coordinate difference value between the fourth reference point and a third reference point, and a third vertical coordinate difference value between the third reference point and the second reference point;

when the difference value between the first vertical coordinate difference value and the first length threshold value is smaller than or equal to a difference threshold value, the third vertical coordinate difference value is larger than or equal to a second length threshold value, and the third vertical coordinate difference value is smaller than or equal to a third length threshold value, determining a first space depth of a space to be identified between the first reference vehicle and the second reference vehicle;

and when the depth of the first space is greater than or equal to a first depth threshold value, determining that the space to be identified meets a vertical parking space condition.

In some embodiments, after determining the first vertical coordinate difference value between the second reference point and the first reference point, the second vertical coordinate difference value between the fourth reference point and the third reference point, and the third vertical coordinate difference value between the third reference point and the second reference point, the method further comprises:

when the difference value between the first vertical coordinate difference value and the fourth vertical coordinate difference value and a fourth length threshold value is smaller than or equal to a difference threshold value, the third vertical coordinate difference value is larger than or equal to a fifth length threshold value, and the third vertical coordinate difference value is smaller than or equal to a sixth length threshold value, determining a second space depth of a space to be identified between the first reference vehicle and the second reference vehicle;

and when the depth of the second space is greater than or equal to a second depth threshold value, determining that the space to be identified meets a horizontal parking space condition.

In some embodiments, the target reference vehicle comprises a first reference vehicle and does not comprise a second reference vehicle, the reference points comprising a first reference point and a second reference point of the first reference vehicle;

determining a first ordinate difference between the second reference point and the first reference point;

when the difference value between the first vertical coordinate difference value and a first length threshold value is smaller than or equal to a difference threshold value, and the first vertical coordinate difference value is smaller than or equal to a seventh length threshold value, determining a first space depth of a space to be identified adjacent to the first reference vehicle;

In some embodiments, after determining the first ordinate difference between the second reference point and the first reference point, the method further includes:

when the difference value between the first vertical coordinate difference value and a fourth length threshold value is smaller than or equal to the difference value threshold value, and the first vertical coordinate difference value is larger than or equal to an eighth length threshold value, determining a second space depth of a space to be identified adjacent to the first reference vehicle;

In some embodiments, after determining that the space to be identified is a parking space available for parking, the method further includes:

and planning a stop line of the automobile in the parking space according to the position information of the reference point, wherein the stop line is the position where the head of the automobile is located at the forefront position after the automobile is parked in the parking space.

In another aspect, a parking space recognition apparatus is provided, the apparatus including:

the device comprises a first determination module, a second determination module and a third determination module, wherein the first determination module is used for determining the position information of a reference point of a target reference vehicle positioned in the driving direction of the vehicle in a plane coordinate system in the driving process, and the plane coordinate system is a coordinate system which is established by taking the central point of the rear wheel base of the vehicle as the origin, taking the driving direction as the forward direction of a longitudinal axis and taking the right side of the driving direction as the forward direction of a transverse axis;

the second determination module is used for determining whether the space to be identified adjacent to the target reference vehicle meets the parking space condition or not according to the position information of the reference point;

and the third determining module is used for determining the space to be identified as the parking space which can be used for parking when the space to be identified meets the parking space condition so as to finish parking space identification.

In some embodiments, the first determination module is to:

the second determining module includes:

a first determining submodule configured to determine a first vertical coordinate difference between the second reference point and the first reference point, a second vertical coordinate difference between the fourth reference point and a third reference point, and a third vertical coordinate difference between the third reference point and the second reference point;

a second determining sub-module, configured to determine a first space depth of a space to be identified between the first reference vehicle and the second reference vehicle when a difference between the first vertical coordinate difference and the second vertical coordinate difference and the first length threshold is less than or equal to a difference threshold, and the third vertical coordinate difference is greater than or equal to a second length threshold, and the third vertical coordinate difference is less than or equal to a third length threshold;

and the third determining submodule is used for determining that the space to be identified meets the vertical parking space condition when the depth of the first space is greater than or equal to a first depth threshold.

In some embodiments, the second determining module further comprises:

a fourth determining sub-module, configured to determine a second space depth of the space to be identified between the first reference vehicle and the second reference vehicle when a difference between the first vertical coordinate difference and the second vertical coordinate difference and a fourth length threshold is less than or equal to a difference threshold, and the third vertical coordinate difference is greater than or equal to a fifth length threshold, and the third vertical coordinate difference is less than or equal to a sixth length threshold;

and the fifth determining submodule is used for determining that the space to be identified meets the horizontal parking space condition when the depth of the second space is greater than or equal to a second depth threshold.

the second determining module includes:

a sixth determining submodule for determining a first vertical coordinate difference between the second reference point and the first reference point;

a seventh determining sub-module, configured to determine a first space depth of the space to be identified adjacent to the first reference vehicle when a difference between the first vertical coordinate difference and a first length threshold is less than or equal to a difference threshold, and the first vertical coordinate difference is less than or equal to a seventh length threshold;

and the eighth determining submodule is used for determining that the space to be identified meets the vertical parking space condition when the depth of the first space is greater than or equal to a first depth threshold.

In some embodiments, the second determining module further comprises:

a ninth determining sub-module, configured to determine a second space depth of the space to be identified adjacent to the first reference vehicle when a difference between the first vertical coordinate difference and a fourth length threshold is less than or equal to the difference threshold and the first vertical coordinate difference is greater than or equal to an eighth length threshold;

and the tenth determining submodule is used for determining that the space to be identified meets the horizontal parking space condition when the depth of the second space is greater than or equal to a second depth threshold.

In some embodiments, the apparatus further comprises:

and the planning module is used for planning a stop line of the automobile in the parking space according to the position information of the reference point, wherein the stop line is an on-line position of the head of the automobile at the forefront after the automobile is parked in the parking space.

In another aspect, an automobile is provided, where the automobile includes a memory and a processor, the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so as to implement the steps of the parking space identification method.

In another aspect, a computer-readable storage medium is provided, in which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the parking space identification method described above.

In another aspect, a computer program product containing instructions is provided, which when run on a computer causes the computer to perform the steps of the above-mentioned parking space identification method.

The technical scheme provided by the application can at least bring the following beneficial effects:

in the application, the position information of the reference point of the target reference vehicle in the driving direction can be acquired to identify whether the space to be identified adjacent to the target reference vehicle is the parking space, so that the parking space line is not required to be identified, the problem that the parking space identification is unreliable due to the fact that the parking space line is fuzzy or the light condition is poor is solved, and the accuracy and the reliability of the parking space identification are improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a flowchart of a parking space identification method according to an embodiment of the present application;

fig. 2 is a flowchart of a parking space identification method provided in the embodiment of the present application;

FIG. 3 is a schematic view of another target reference vehicle according to an embodiment of the present disclosure;

FIG. 4 is a schematic view of another target reference vehicle according to an embodiment of the present disclosure;

FIG. 5 is a schematic view of another target reference vehicle according to an embodiment of the present disclosure;

FIG. 6 is a schematic view of another target reference vehicle according to an embodiment of the present disclosure;

fig. 7 is a schematic structural diagram of a parking space identification device according to an embodiment of the present application;

FIG. 8 is a block diagram of a second determining module according to an embodiment of the present disclosure;

FIG. 9 is a schematic structural diagram of another second determining module provided in the embodiments of the present application;

FIG. 10 is a schematic structural diagram of another second determining module provided in the embodiments of the present application;

FIG. 11 is a schematic structural diagram of another second determining module provided in the embodiments of the present application;

fig. 12 is a schematic structural diagram of a parking space identification device according to an embodiment of the present application;

fig. 13 is a schematic structural diagram of an automobile according to an embodiment of the present application.

Detailed Description

To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

Before explaining the parking space identification method provided by the embodiment of the present application in detail, an application scenario provided by the embodiment of the present application is introduced first.

At present, a driver can park a car automatically through an automatic parking system of the car, and when the car is parked automatically, the driver can usually recognize the car position through a camera. To the parking stall that has the car position line, the camera can effectively discern available parking stall, but, because the camera is when discerning the parking stall, all has the limitation to car position line, space brightness, weather condition. For example, the parking space line is exposed and used for a long time, the mark of the parking space line is fuzzy, a local area of the parking space line can be shielded by foreign matters, and at the moment, the reliability of the camera for identifying the parking space is reduced, and even the parking space line cannot be identified. Moreover, the camera needs certain light to identify the parking space, and the parking space may not be identified when the light is dark, for example, the parking space may not be identified in a shaded area. In addition, when weather is not good, for example, under the condition of bad weather such as rainstorm, big fog, the parking stall is hardly discerned through the camera, and that is to say, camera discernment parking stall has certain limitation, and discerns unreliable.

Based on such a scene, the embodiment of the application provides a parking space identification method capable of improving the reliability of parking space identification.

The following describes the parking space identification method provided in the embodiment of the present application in detail with reference to the accompanying drawings.

Fig. 1 is a flowchart of a parking space identification method according to an embodiment of the present application, where the method is applied to an automobile. Referring to fig. 1, the method includes the following steps.

Step 101: during driving, determining the position information of a reference point of a target reference vehicle positioned in the driving direction of the vehicle in a plane coordinate system, wherein the plane coordinate system is a coordinate system established by taking the central point of the rear wheel base of the vehicle as an origin, taking the driving direction as a vertical axis forward direction and taking the right side of the driving direction as a horizontal axis forward direction.

Step 102: and determining whether the space to be identified adjacent to the target reference vehicle meets the parking space condition or not according to the position information of the reference point.

Step 103: and when the space to be identified meets the parking space condition, determining the space to be identified as a parking space which can be used for parking so as to finish parking space identification.

In some embodiments, determining the position information of the reference point of the target reference vehicle located in the driving direction of the vehicle in the plan work and rest includes:

when the target reference vehicle includes the first reference vehicle and does not include the second reference vehicle, determining position information of a first reference point and a second reference point in the first reference vehicle in the coordinate system.

according to the position information of the reference point, whether the space to be identified adjacent to the target reference vehicle meets the parking space condition or not is determined, and the method comprises the following steps:

determining a first ordinate difference between the second reference point and the first reference point, a second ordinate difference between the fourth reference point and a third reference point, and a third ordinate difference between the third reference point and the second reference point;

when the difference value between the first vertical coordinate difference value and the first length threshold value and the difference value between the second vertical coordinate difference value and the first length threshold value are respectively smaller than or equal to a difference threshold value, the third vertical coordinate difference value is larger than or equal to a second length threshold value, and the third vertical coordinate difference value is smaller than or equal to a third length threshold value, determining a first space depth of a space to be identified between the first reference vehicle and the second reference vehicle;

and when the depth of the first space is greater than or equal to a first depth threshold value, determining that the space to be identified meets the vertical parking space condition.

In some embodiments, after determining a first vertical coordinate difference between the second reference point and the first reference point, a second vertical coordinate difference between the fourth reference point and a third reference point, and a third vertical coordinate difference between the third reference point and the second reference point, further comprising:

when the difference value between the first vertical coordinate difference value and the fourth vertical coordinate difference value is smaller than or equal to a difference threshold value, the third vertical coordinate difference value is larger than or equal to a fifth length threshold value, and the third vertical coordinate difference value is smaller than or equal to a sixth length threshold value, determining a second space depth of a space to be identified between the first reference vehicle and the second reference vehicle;

and when the depth of the second space is greater than or equal to a second depth threshold value, determining that the space to be identified meets the horizontal parking space condition.

when the difference value between the first vertical coordinate difference value and the first length threshold value is smaller than or equal to a difference threshold value, and the first vertical coordinate difference value is smaller than or equal to a seventh length threshold value, determining a first space depth of a space to be identified adjacent to the first reference vehicle;

In some embodiments, after determining the first ordinate difference between the second reference point and the first reference point, further comprises:

when the difference value between the first vertical coordinate difference value and the fourth length threshold value is smaller than or equal to the difference value threshold value, and the first vertical coordinate difference value is larger than or equal to the eighth length threshold value, determining a second space depth of the space to be identified adjacent to the first reference vehicle;

In some embodiments, after determining that the space to be identified is a parking space that can be used for parking, the method further includes:

and planning a stop line of the automobile in the parking space according to the position information of the reference point, wherein the stop line is the line where the head of the automobile is located at the forefront position after the automobile is parked in the parking space.

All the above optional technical solutions can be combined arbitrarily to form an optional embodiment of the present application, and the present application embodiment is not described in detail again.

Fig. 2 is a flowchart of a parking space identification method provided in an embodiment of the present application, and referring to fig. 2, the method includes the following steps.

Step 201: during driving, the vehicle determines the position information of the reference point of the target reference vehicle located in the driving direction in the plane coordinate system.

The plane coordinate system is a coordinate system established with the center point of the rear wheel base of the automobile as the origin, the driving direction as the vertical axis forward direction, and the right side of the driving direction of the automobile as the horizontal axis forward direction.

In the driving process of the automobile, a driver may start an automatic parking system of the automobile, and after the automobile starts the automatic parking system, the parking space needs to be automatically identified.

When the automobile is used for searching the parking space, the automobile may pass through other automobiles, a space may exist between the automobiles in the other automobiles, or a space may exist beside one automobile, and the space may meet the parking requirement of the automobile or may not meet the parking requirement of the automobile.

As an example, the operation of the automobile for determining the position information of the reference point of the target reference automobile located in the driving direction in the planar work and rest may be: when the target reference vehicle comprises a first reference vehicle and a second reference vehicle, determining position information of a first reference point and a second reference point of the first reference vehicle in a coordinate system and position information of a third reference point and a fourth reference point of the second reference vehicle in the coordinate system, wherein the first reference vehicle is a first vehicle passing by the vehicle when the vehicle runs according to the running direction, the second reference vehicle is a second vehicle passing by the vehicle when the vehicle runs according to the running direction, the first reference point and the second reference point are two frame points located at the left and right positions of a vehicle body of the first reference vehicle, and the third reference point and the fourth reference point are two frame points located at the left and right positions of the vehicle body of the second reference vehicle; when the target reference vehicle includes a first reference vehicle and does not include a second reference vehicle, position information of a first reference point and a second reference point in the first reference vehicle in the coordinate system is determined.

Since the vehicle may travel past other vehicles during the recognition of the parking space, a first vehicle that the vehicle travels in the travel direction may be determined as a first reference vehicle, and a second vehicle that the vehicle travels in the travel direction may be determined as a second reference vehicle. In order to determine whether the space to be identified adjacent to the target reference vehicle meets the parking requirement, the automobile can also determine the position information of the reference points on the target reference vehicle, and when the reference points are selected, two reference points can be selected from each reference vehicle in the target reference vehicle. That is, when the target reference vehicle includes the first reference vehicle, the first reference point and the second reference point on the first reference vehicle are selected, and when the target reference vehicle further includes the second reference vehicle, the third reference point and the fourth reference point on the second reference vehicle are selected. And the reference point selection is different according to different parking directions of the first reference vehicle and the second reference vehicle.

For example, referring to fig. 3, when the target reference vehicle includes a first reference vehicle and a second reference vehicle, and the directions of the vehicle heads of the first reference vehicle and the second reference vehicle are approximately perpendicular to the traveling direction of the vehicle, the vehicle may select points a and B on both sides of the vehicle head of the first reference vehicle as a first reference point and a second reference point, respectively, and select points C and D on both sides of the vehicle head of the second reference vehicle as a third reference point and a fourth reference point, respectively. Referring to fig. 4, when the target reference vehicle includes a first reference vehicle and a second reference vehicle, and the directions of the vehicle heads of the first reference vehicle and the second reference vehicle are approximately parallel to the driving direction of the vehicle, the vehicle may select points a and B on both sides of the vehicle body on the first reference vehicle as a first reference point and a second reference point, and select points C and D on both sides of the vehicle body on the second reference vehicle as a third reference point and a fourth reference point, respectively.

Since the radar sensor may be mounted on the automobile, the automobile may detect the position information of the reference point through the radar sensor. For example, a long distance ultrasonic radar sensor may be mounted near the front right wheel hub of an automobile, the ultrasonic radar sensor may detect distances up to 5000mm (millimeters), and the frame size of an obstacle to be detected may be at least 1000 mm. The position information of the reference point can be detected by the ultrasonic radar sensor.

It should be noted that the vehicle may travel in a formal direction within a range of a lateral distance between the vehicle and the target reference vehicle at a vehicle speed less than or equal to a speed threshold, and when passing the target reference vehicle along the way, the position information of the reference point on the target reference vehicle is acquired. And the longitudinal included angle between the automobile driving direction and the target reference automobile is smaller than or equal to an angle threshold value.

It should be noted that the speed threshold is the maximum parking space recognition speed acceptable by the radar sensor, and the speed threshold may be set in advance according to the requirement, for example, the speed threshold may be 15km/h (kilometer per hour), 14km/h, and the like. The angle threshold may also be set according to requirements, for example, the angle threshold may be 6 degrees, 5 degrees, and the like.

As an example, since the speed threshold is the maximum parking space recognition speed acceptable by the radar sensor, when the vehicle speed is greater than the speed threshold, the parking space may not be recognized, and therefore, in order to accurately recognize the parking space, when the vehicle speed of the vehicle is greater than the speed threshold, the driver may be prompted by a prompt message to control the vehicle speed within the speed threshold, or the vehicle may automatically perform a speed reduction process to control the vehicle speed of the vehicle within the speed threshold.

Step 202: and the automobile determines whether the space to be identified adjacent to the target reference automobile meets the parking space condition or not according to the position information of the reference point.

Because the space to be identified may or may not meet the parking requirement of the automobile, the automobile needs to determine whether the space to be identified meets the parking space condition according to the position information of the reference point.

As noted above, the target reference vehicle may include a first reference vehicle and a second reference vehicle, and the reference points may include a first reference point and a second reference point in the first reference vehicle, and a third reference point and a fourth reference point of the second reference vehicle. Alternatively, the target reference vehicle may include a first reference vehicle and not include a second reference vehicle, and the reference points may include a first reference point and a second reference point in the first reference vehicle. And according to the difference between the target reference vehicle and the reference point, the vehicle determines whether the space to be identified adjacent to the target reference vehicle meets the parking space condition according to the position information of the reference point.

As an example, when the target reference vehicle includes a first reference vehicle and a second reference vehicle, the reference points may include a first reference point and a second reference point in the first reference vehicle, and a third reference point and a fourth reference point of the second reference vehicle, the operation of the automobile determining whether the space to be identified adjacent to the target reference vehicle satisfies the parking space condition according to the position information of the reference points may be: determining a first vertical coordinate difference value between a second reference point and the first reference point, a second vertical coordinate difference value between a fourth reference point and a third reference point, and a third vertical coordinate difference value between the third reference point and the second reference point; when the difference value between the first vertical coordinate difference value and the first length threshold value and the difference value between the second vertical coordinate difference value and the first length threshold value are smaller than or equal to the difference threshold value, the third vertical coordinate difference value is larger than or equal to the second length threshold value, and the third vertical coordinate difference value is smaller than or equal to the third length threshold value, determining a first space depth of a space to be identified between the first reference vehicle and the second reference vehicle; and when the depth of the first space is greater than or equal to a first depth threshold value, determining that the space to be identified meets the vertical parking space condition.

Since the third ordinate difference between the third reference point and the second reference point is the width of the space to be identified, which needs to ensure that the vehicle can park vertically, the third ordinate difference needs to be greater than the second length threshold. However, if the width of the space to be recognized is too wide, the space to be recognized may not be a parking space but a road in which parking is not performed at will. Therefore, the third ordinate difference value also needs to be less than or equal to the third length threshold value. Further, since the first reference point and the second reference point are frame points on the first reference car, and may be a point a and a point B as shown in fig. 3, the third reference point and the fourth reference point are frame points on the second reference car, and may be a point C and a point D as shown in fig. 3, a first vertical coordinate difference between the second reference point and the first reference point is a width of the first reference car, and a second vertical coordinate difference between the fourth reference point and the third reference point is a width of the second reference car, the first vertical coordinate difference and the second vertical coordinate difference are not much different from the first length threshold, and by comparing the first vertical coordinate difference and the second vertical coordinate difference with the first length threshold, accuracy of the selected reference point can be ensured.

It should be noted that, when the first reference point, the father reference point, the third reference point and the fourth reference point are located as shown in fig. 3, the first vertical coordinate difference value is the width of the first reference car, the second vertical coordinate difference value is the width of the second reference car, and the third vertical coordinate difference value may be used to determine whether the width of the space to be identified can meet the requirement of the parking width of the car, so the first length threshold, the second length threshold, the third length threshold and the first depth threshold may be determined according to the length or the width of the car. Wherein the length of the automobile can be X₀The width of the car may be Y₀Of 1 atA length threshold may be Y₀The sum or difference of the test error and the width of the automobile, that is, the first length threshold value can be Y₀+ - Δ Y, the test error Δ Y may be 30cm (centimeters). The second length threshold may be Y₀The first margin value may be 60cm in sum with the first margin value, that is, the second length threshold value may be Y₀+60 cm. The third length threshold may be X₀And the second margin value may be 80cm, that is, the third length threshold may be X₀+80 cm. The first depth threshold may be a depth in the X direction, which may be 4.8m (meters). The difference threshold may be set in advance, for example, the difference threshold may be 5cm, 10cm, or the like.

As can be seen from fig. 3 and 4, the space to be identified may be a vertical parking space or a horizontal parking space, and therefore, it may be determined that the space to be identified satisfies the vertical parking space condition in the above manner, and when the space to be identified is a horizontal parking space, it may not be determined that the space to be identified satisfies the vertical parking space condition in the above manner, and therefore, it is still necessary to determine whether the space to be identified satisfies the horizontal parking space condition.

As an example, after determining a first vertical coordinate difference value between the second reference point and the first reference point, a second vertical coordinate difference value between the fourth reference point and the third reference point, and a third vertical coordinate difference value between the third reference point and the second reference point, the automobile may further determine whether the space to be identified satisfies the horizontal parking space condition.

As an example, when the difference between the first and second vertical coordinate differences and the fourth length threshold is less than or equal to the difference threshold, respectively, and the third vertical coordinate difference is greater than or equal to the fifth length threshold, and the third vertical coordinate difference is less than or equal to the sixth length threshold, determining a second space depth of the space to be identified between the first and second reference vehicles; and when the depth of the second space is greater than or equal to the second depth threshold value, determining that the space to be identified meets the horizontal parking space condition.

Since the first and second reference points are frame points on the first reference car, and may be points a and B as shown in fig. 4, the third and fourth reference points are frame points on the second reference car, and may be points C and D as shown in fig. 4, then the first vertical coordinate difference between the second reference point and the first reference point is the length of the first reference car, and the second vertical coordinate difference between the fourth reference point and the third reference point is the length of the second reference car, the accuracy of the selected reference point may be ensured by comparing the first and second vertical coordinate differences with a fourth length threshold.

It should be noted that, when the first reference point, the second reference point, the third reference point and the fourth reference point are located as shown in fig. 4, the first vertical coordinate difference is the length of the first reference car, the second vertical coordinate difference is the length of the second reference car, and the third vertical coordinate difference can be used to determine whether the length of the space to be identified can meet the parking length requirement of the car, so the fourth length threshold, the fifth length threshold, the sixth length threshold and the second depth threshold can be determined according to the length or the width of the car. Wherein the length of the automobile can be X₀The width of the car may be Y₀The fourth length threshold may be X₀The sum or difference of the test error and the length of the automobile, that is, the fourth length threshold value can be X₀± Δ X, the test error Δ X may be less than or equal to 30cm (centimeters). The fifth length threshold may be X₀And a third margin value, the third margin value may be 60cm, that is, the fifth length threshold may be X₀+60. The sixth length threshold may be X₀And a fourth margin value, the fourth margin value may be 200cm, that is, the sixth length threshold may be X₀+200 cm. The second depth threshold may be a depth in the X direction, and the second depth threshold may be X₀+30cm。

As an example, when the target reference vehicle includes a first reference vehicle and does not include a second reference vehicle, and the reference points include a first reference point and a second reference point in the first reference vehicle, the operation of the vehicle determining whether the space to be identified adjacent to the target reference vehicle satisfies the parking space condition according to the position information of the reference points may be: determining a first ordinate difference between the second reference point and the first reference point; when the difference value between the first vertical coordinate difference value and the first length threshold value is smaller than or equal to the difference threshold value, and the first vertical coordinate difference value is smaller than or equal to the seventh length threshold value, determining a first space depth of a space to be identified adjacent to the first reference vehicle; and when the depth of the first space is greater than or equal to a first depth threshold value, determining that the space to be identified meets the vertical parking space condition.

Since the space to be identified adjacent to the target reference vehicle may be located between two reference vehicles, adjacent to two reference vehicles, or adjacent to one reference vehicle, for example, see fig. 5 or 6, when the vehicle passes by only one reference vehicle. Thus, the vehicle may determine a first ordinate difference between the second reference point and the first reference point. When the space to be identified is as shown in fig. 5, the first vertical coordinate difference is the width of the first reference vehicle, the first vertical coordinate difference needs to be similar to the first length threshold, and the first vertical coordinate difference is smaller than or equal to the seventh length threshold.

It should be noted that the seventh length threshold may be set in advance according to the width of the automobile, for example, the seventh length threshold may be Y₀And a fifth grace value, the fifth grace value may be 100cm, that is, the seventh length threshold may be Y₀+100cm。

As an example, when the space to be identified is as shown in fig. 6, it is necessary to identify whether the space to be identified is a horizontal parking space. That is, after the automobile determines the first vertical coordinate difference between the second reference point and the first reference point, when the difference between the first vertical coordinate difference and the fourth length threshold is less than or equal to the difference threshold, and the first vertical coordinate difference is greater than or equal to the eighth length threshold, determining a second space depth of the space to be identified adjacent to the first reference automobile; and when the depth of the second space is greater than or equal to the second depth threshold value, determining that the space to be identified meets the horizontal parking space condition.

It should be noted that the eighth length threshold may be set in advance according to the width of the automobile, for example, the eighth length threshold may be X₀And between sixth grace valueThe sixth margin value may be 100cm, that is, the eighth length threshold value may be Y₀-100cm。

Step 203: and when the space to be identified meets the parking space condition, determining that the space to be identified is a parking space which can be used for parking so as to finish parking space identification.

According to the above, the parking space conditions include a vertical parking space condition and a horizontal parking space condition, that is, the space to be identified is a vertical parking space or a horizontal parking space, when the parking space condition is met, it is indicated that the space to be identified can meet the parking requirement of the automobile, and the automobile can park in the space to be identified.

Step 204: and planning a stop line of the automobile in the parking space according to the position information of the reference point.

It should be noted that the stop line is the line at the forefront of the car head after the car is parked in the parking space.

Because the automobile needs to be automatically parked through the automatic parking system, a parking path can be planned before the automobile is automatically parked, and the parking path needs to determine the position of the head of the parked automobile, namely, the automobile needs to determine a parking line.

As can be seen from the above, the space to be identified may include the four possible parking spaces described in fig. 3 to 6, and the manner of planning the parking line of the vehicle is different for different parking spaces.

As an example, when the space to be recognized is as shown in fig. 3, the automobile may determine whether the line segment between the first reference point and the second reference point is parallel to the line segment between the third reference point and the fourth reference point, that is, whether the AB segment is parallel to the CD segment; when the first longitudinal coordinate difference value and the second longitudinal coordinate difference value are parallel, if the first longitudinal coordinate difference value between the first reference point and the second reference point is larger than or equal to the first length threshold value and smaller than or equal to the tenth length threshold value, the parking position of the automobile is determined to be the middle position of the two reference automobiles, and the stop line is parallel to the AB section and the CD section respectively. When the first longitudinal coordinate difference is parallel to the second longitudinal coordinate difference, if the third longitudinal coordinate difference is greater than or equal to the tenth length threshold and less than or equal to the third length threshold, the parking space is planned by taking the third reference point as a reference, the parking line is parallel to the AB section and the CD section respectively, a distance threshold is kept between the first parking point and the third reference point in the parking line, and the first parking point is one point, closest to the second reference vehicle, in the head of the vehicle. When the AB section is not parallel to the CD section and the abscissa of the third reference point is larger than the abscissa of the second reference point, the first reference vehicle is more convex than the second reference vehicle, therefore, when the parking space is planned, the position of the first parking point is the middle point of the ordinate of the third reference point and the second reference point, or the first parking point is located at a distance threshold from the third reference point. When the AB segment is not parallel to the CD segment and the abscissa of the third reference point is smaller than the abscissa of the second reference point, which indicates that the first reference vehicle is recessed from the second reference vehicle, the straight line where the first parking point is located may be planned to be parallel to the CD segment, and the parking position of the vehicle may be determined as the middle position of the two reference vehicles, or the first parking point may be planned to be located at a distance threshold from the third reference point.

It should be noted that the distance threshold may be set in advance according to requirements, for example, the distance threshold may be 30cm, 40cm, and so on. The tenth length threshold may also be set in advance according to requirements, for example, the tenth length threshold may be Y₀And a seventh margin value, the seventh margin value may be 100cm, that is, the tenth length threshold may be Y₀+100cm。

As an example, when the space to be recognized is as shown in fig. 4, the automobile may determine whether the line segment between the first reference point and the second reference point is parallel to the line segment between the third reference point and the fourth reference point, that is, whether the AB segment is parallel to the CD segment; when the first longitudinal coordinate difference value is parallel to the second longitudinal coordinate difference value, if the first longitudinal coordinate difference value is greater than or equal to the fifth length threshold value and less than or equal to the eleventh length threshold value, the parking position of the automobile is determined to be the middle position of the two reference automobiles, and the stop line is parallel to the AB section and the CD section respectively. When the first longitudinal coordinate difference is parallel to the second longitudinal coordinate difference, if the third longitudinal coordinate difference is greater than or equal to the eleventh length threshold and less than or equal to the sixth length threshold, the parking space is planned by taking the third reference point as a reference, the parking line is parallel to the AB section and the CD section respectively, a distance threshold is kept between the first parking point and the third reference point in the parking line, and the first parking point is one point, closest to the second reference vehicle, in the head of the vehicle. When the AB section is not parallel to the CD section and the abscissa of the third reference point is larger than the abscissa of the second reference point, the first reference vehicle is more convex than the second reference vehicle, therefore, when the parking space is planned, the position of the first parking point is the middle point of the ordinate of the third reference point and the second reference point, or the first parking point is located at a distance threshold from the third reference point. When the AB segment is not parallel to the CD segment and the abscissa of the third reference point is smaller than the abscissa of the second reference point, which indicates that the first reference vehicle is recessed from the second reference vehicle, the straight line where the first parking point is located may be planned to be parallel to the CD segment, and the parking position of the vehicle may be determined as the middle position of the two reference vehicles, or the first parking point may be planned to be located at a distance threshold from the third reference point.

It should be noted that the eleventh length threshold may also be set in advance according to requirements, for example, the eleventh length threshold may be X₀And an eighth margin value, the eighth margin value may be 120cm, that is, the eleventh length threshold may be X₀+120cm。

As an example, when the space to be recognized is as shown in fig. 5 or fig. 6, a parking line may be planned to be parallel to a line segment between the first reference point and the second reference point, and a distance threshold value is provided between the second parking point and the first reference vehicle on the parking line. The second stopping point is the closest point on the stopping line to the first reference vehicle.

In the embodiment of the application, when the automobile needs to be parked automatically, the position information of the reference point of the target reference automobile in the driving direction can be acquired to identify whether the space to be identified adjacent to the target reference automobile is a vertical parking space or a horizontal parking space, so that the parking space line does not need to be identified, the problem of unreliable parking space identification caused by fuzzy parking space lines or poor light conditions does not exist, and the accuracy and the reliability of parking space identification are improved.

After explaining the method for identifying a parking space provided by the embodiment of the present application, a device for identifying a parking space provided by the embodiment of the present application is introduced next.

Fig. 7 is a schematic structural diagram of a parking space identification device provided in an embodiment of the present application, where the parking space identification device may be implemented as part or all of an automobile by software, hardware, or a combination of the software and the hardware. Referring to fig. 7, the apparatus includes: a first determining module 701, a second determining module 702 and a third determining module 703.

A first determining module 701, configured to determine, during a driving process, position information of a reference point of a target reference vehicle located in a driving direction of the vehicle in a plane coordinate system, where the plane coordinate system is a coordinate system established with a central point of a rear wheel base of the vehicle as an origin, the driving direction as a longitudinal axis forward direction, and a right side of the driving direction as a transverse axis forward direction;

a second determining module 702, configured to determine, according to the position information of the reference point, whether a space to be identified adjacent to the target reference vehicle meets a parking space condition;

a third determining module 703, configured to determine, when the space to be identified meets the parking space condition, that the space to be identified is a parking space that can be used for parking, so as to complete parking space identification.

In some embodiments, the first determining module 701 is configured to:

referring to fig. 8, the second determining module 702 includes:

a first determining submodule 7021 configured to determine a first ordinate difference between the second reference point and the first reference point, a second ordinate difference between the fourth reference point and a third reference point, and a third ordinate difference between the third reference point and the second reference point;

a second determining sub-module 7022, configured to determine a first space depth of the space to be identified between the first reference vehicle and the second reference vehicle when a difference between the first vertical coordinate difference and the second vertical coordinate difference and the first length threshold is smaller than or equal to a difference threshold, and the third vertical coordinate difference is greater than or equal to a second length threshold, and the third vertical coordinate difference is smaller than or equal to a third length threshold;

the third determining submodule 7023 is configured to determine that the space to be identified meets the vertical parking space condition when the depth of the first space is greater than or equal to a first depth threshold.

In some embodiments, referring to fig. 9, the second determining module further comprises:

a fourth determining sub-module 7024, configured to determine a second space depth of the space to be identified between the first reference vehicle and the second reference vehicle when a difference between the first vertical coordinate difference and the second vertical coordinate difference and a fourth length threshold is less than or equal to a difference threshold, and the third vertical coordinate difference is greater than or equal to a fifth length threshold, and the third vertical coordinate difference is less than or equal to a sixth length threshold;

a fifth determining submodule 7025, configured to determine that the space to be identified meets a horizontal parking space condition when the depth of the second space is greater than or equal to a second depth threshold.

referring to fig. 10, the second determining module 702 includes:

a sixth determining submodule 7026, configured to determine a first difference between the second reference point and the first reference point;

a seventh determining sub-module 7027, configured to determine a first space depth of the space to be identified adjacent to the first reference vehicle when a difference between the first vertical coordinate difference and a first length threshold is less than or equal to a difference threshold and the first vertical coordinate difference is less than or equal to a seventh length threshold;

an eighth determining submodule 7028 is configured to determine that the space to be identified meets the vertical parking space condition when the depth of the first space is greater than or equal to the first depth threshold.

In some embodiments, referring to fig. 11, the second determining module 702 further comprises:

a ninth determining sub-module 7029, configured to determine, when the difference between the first vertical coordinate difference and the fourth length threshold is smaller than or equal to the difference threshold, and the first vertical coordinate difference is greater than or equal to the eighth length threshold, a second space depth of the space to be identified adjacent to the first reference vehicle;

a tenth determining submodule 70210, configured to determine that the space to be identified meets a horizontal parking space condition when the second space depth is greater than or equal to the second depth threshold.

In some embodiments, referring to fig. 12, the apparatus further comprises:

and the planning module 704 is configured to plan a stop line of the vehicle in the parking space according to the position information of the reference point, where the stop line is an on-line where a head of the vehicle is located at the forefront after the vehicle is parked in the parking space.

In the embodiment of the application, when the automobile needs to be parked automatically, the position information of the reference point of the target reference automobile in the driving direction can be acquired to identify whether the space to be identified adjacent to the target reference automobile is a vertical parking space or a horizontal parking space, so that the parking space line does not need to be identified, the problem of unreliable parking space identification caused by the fuzzy parking space line or poor light condition does not exist, and the accuracy and the reliability of parking space identification are improved.

It should be noted that: the parking space recognition device provided by the above embodiment is exemplified by only the division of the above functional modules during the recognition of the parking space, and in practical applications, the above function distribution can be completed by different functional modules as required, that is, the internal structure of the device is divided into different functional modules, so as to complete all or part of the above described functions. In addition, the parking space identification device provided by the embodiment and the parking space identification method embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment and is not repeated here.

Fig. 13 is a block diagram of an automobile 1300 according to an embodiment of the present disclosure.

Generally, the automobile 1300 includes: a processor 1301 and a memory 1302.

Processor 1301 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and the like. The processor 1301 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 1301 may also include a main processor and a coprocessor, where the main processor is a processor for Processing data in an awake state, and is also referred to as a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 1301 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing content that the display screen needs to display. In some embodiments, processor 1301 may further include an AI (Artificial Intelligence) processor for processing computational operations related to machine learning.

Memory 1302 may include one or more computer-readable storage media, which may be non-transitory. The memory 1302 may also include high speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in the memory 1302 is configured to store at least one instruction for execution by the processor 1301 to implement the method for identifying a parking space provided by the method embodiments of the present application.

In some embodiments, the vehicle 1300 may also optionally include: a peripheral interface 1303 and at least one peripheral. Processor 1301, memory 1302, and peripheral interface 1303 may be connected by a bus or signal line. Each peripheral device may be connected to the peripheral device interface 1303 via a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of radio frequency circuitry 1304, touch display 1305, camera 1306, audio circuitry 1307, positioning component 1308, and power supply 1309.

Peripheral interface 1303 may be used to connect at least one peripheral associated with I/O (Input/Output) to processor 1301 and memory 1302. In some embodiments, processor 1301, memory 1302, and peripheral interface 1303 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 1301, the memory 1302, and the peripheral device interface 1303 may be implemented on a separate chip or circuit board, which is not limited in this embodiment.

The Radio Frequency circuit 1304 is used to receive and transmit RF (Radio Frequency) signals, also called electromagnetic signals. The radio frequency circuitry 1304 communicates with communication networks and other communication devices via electromagnetic signals. The radio frequency circuit 1304 converts an electrical signal into an electromagnetic signal to transmit, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 1304 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and so forth. The radio frequency circuitry 1304 may communicate with other terminals via at least one wireless communication protocol. The wireless communication protocols include, but are not limited to: the world wide web, metropolitan area networks, intranets, generations of mobile communication networks (2G, 3G, 4G, and 5G), Wireless local area networks, and/or WiFi (Wireless Fidelity) networks. In some embodiments, the radio frequency circuit 1304 may also include NFC (Near Field Communication) related circuits, which are not limited in this application.

The display screen 1305 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display screen 1305 is a touch display screen, the display screen 1305 also has the ability to capture touch signals on or over the surface of the display screen 1305. The touch signal may be input to the processor 1301 as a control signal for processing. At this point, the display 1305 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, the display 1305 may be one, providing the front panel of the automobile 1300; in other embodiments, the display 1305 may be at least two, respectively disposed on different surfaces of the vehicle 1300 or in a folded design; in still other embodiments, the display 1305 may be a flexible display disposed on a curved surface or on a folded surface of the automobile 1300. Even further, the display 1305 may be arranged in a non-rectangular irregular figure, i.e., a shaped screen. The Display 1305 may be made of LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode), or the like.

The camera assembly 1306 is used to capture images or video. Optionally, the camera assembly 1306 includes any one of a main camera, a depth-of-field camera, a wide-angle camera, and a telephoto camera, so as to implement a background blurring function implemented by the fusion of the main camera and the depth-of-field camera, a panoramic shooting function implemented by the fusion of the main camera and the wide-angle camera, a VR (Virtual Reality) shooting function implemented by the fusion of the main camera and the wide-angle camera, or other fusion shooting functions. In some embodiments, camera assembly 1306 may also include a flash. The flash lamp can be a monochrome temperature flash lamp or a bicolor temperature flash lamp. The double-color-temperature flash lamp is a combination of a warm-light flash lamp and a cold-light flash lamp, and can be used for light compensation at different color temperatures.

The audio circuit 1307 may include a microphone and a speaker. The microphone is used for collecting sound waves of a user and the environment, converting the sound waves into electric signals, and inputting the electric signals to the processor 1301 for processing, or inputting the electric signals to the radio frequency circuit 1304 for realizing voice communication. For stereo capture or noise reduction purposes, the microphones may be multiple and located in different locations of the vehicle 1300. The microphone may also be an array microphone or an omni-directional pick-up microphone. The speaker is used to convert electrical signals from the processor 1301 or the radio frequency circuitry 1304 into sound waves. The loudspeaker can be a traditional film loudspeaker or a piezoelectric ceramic loudspeaker. When the speaker is a piezoelectric ceramic speaker, the speaker can be used for purposes such as converting an electric signal into a sound wave audible to a human being, or converting an electric signal into a sound wave inaudible to a human being to measure a distance. In some embodiments, audio circuitry 1307 may also include a headphone jack.

The positioning component 1308 is used to locate the current geographic Location of the automobile 1300 for navigation or LBS (Location Based Service). The Positioning component 1308 can be a Positioning component based on the Global Positioning System (GPS) in the united states, the beidou System in china, or the galileo System in russia.

The power supply 1309 is used to power the various components in the automobile 1300. The power source 1309 may be alternating current, direct current, disposable or rechargeable. When the power source 1309 comprises a rechargeable battery, the rechargeable battery may be a wired rechargeable battery or a wireless rechargeable battery. The wired rechargeable battery is a battery charged through a wired line, and the wireless rechargeable battery is a battery charged through a wireless coil. The rechargeable battery may also be used to support fast charge technology.

In some embodiments, the automobile 1300 also includes one or more sensors 1310.

Those skilled in the art will appreciate that the configuration shown in fig. 13 is not intended to be limiting of the vehicle 1300, and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components may be used.

In some embodiments, a computer-readable storage medium is further provided, in which a computer program is stored, and when executed by a processor, the computer program implements the steps of the parking space identification method in the above embodiments. For example, the computer readable storage medium may be ROM, RAM, CD-ROM, DDR, FLASH, EEPROM, magnetic tape, floppy disk, optical data storage device, and the like.

It is noted that the computer-readable storage medium referred to herein may be a non-volatile storage medium, in other words, a non-transitory storage medium.

It should be understood that all or part of the steps for implementing the above embodiments may be implemented by software, hardware, firmware or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. The computer instructions may be stored in the computer-readable storage medium described above.

That is, in some embodiments, a computer program product containing instructions is also provided, which when run on a computer causes the computer to perform the steps of the above-mentioned parking space identification method.

The above-mentioned embodiments are provided not to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A parking space identification method is characterized by comprising the following steps:

in the driving process, when a target reference vehicle positioned in the driving direction of the vehicle comprises a first reference vehicle and a second reference vehicle, determining the position information of a first reference point and a second reference point of the first reference vehicle in a plane coordinate system and the position information of a third reference point and a fourth reference point of the second reference vehicle in the plane coordinate system, wherein the first reference vehicle is a first vehicle passing through when the vehicle drives according to the driving direction, the second reference vehicle is a second vehicle passing through when the vehicle drives according to the driving direction, the first reference point and the second reference point are two frame points positioned at the left and right positions of a vehicle body of the first reference vehicle, the third reference point and the fourth reference point are two frame points positioned at the left and right positions of the vehicle body of the second reference vehicle, and the plane coordinate system takes the central point of the rear wheel base of the vehicle as an origin, a coordinate system which is established by taking the driving direction as the positive direction of a longitudinal axis and taking the right side of the driving direction as the positive direction of a transverse axis;

when the target reference vehicle comprises the first reference vehicle and does not comprise the second reference vehicle, determining position information of a first reference point and a second reference point in the first reference vehicle in the plane coordinate system;

when the target reference vehicle comprises a first reference vehicle and a second reference vehicle, the reference points of the target reference vehicle comprise a first reference point and a second reference point in the first reference vehicle, and a third reference point and a fourth reference point of the second reference vehicle, determining a first vertical coordinate difference value between the second reference point and the first reference point, a second vertical coordinate difference value between the fourth reference point and a third reference point, and a third vertical coordinate difference value between the third reference point and the second reference point; when the difference value between the first vertical coordinate difference value and the first length threshold value is smaller than or equal to a difference threshold value, the third vertical coordinate difference value is larger than or equal to a second length threshold value, and the third vertical coordinate difference value is smaller than or equal to a third length threshold value, determining a first space depth of a space to be identified between the first reference vehicle and the second reference vehicle; when the depth of the first space is greater than or equal to a first depth threshold value, determining that the space to be identified meets a vertical parking space condition, wherein the space to be identified is a vertical parking space to be identified or a horizontal parking space to be identified;

when the target reference vehicle comprises a first reference vehicle and does not comprise a second reference vehicle, and the reference points comprise a first reference point and a second reference point of the first reference vehicle, determining a first ordinate difference between the second reference point and the first reference point; when the difference value between the first vertical coordinate difference value and a first length threshold value is smaller than or equal to a difference threshold value, and the first vertical coordinate difference value is smaller than or equal to a seventh length threshold value, determining a first space depth of a space to be identified adjacent to the first reference vehicle; when the depth of the first space is greater than or equal to a first depth threshold value, determining that the space to be identified meets a vertical parking space condition;

2. The method of claim 1, wherein after determining a first vertical coordinate difference between the second reference point and the first reference point, a second vertical coordinate difference between the fourth reference point and a third reference point, and a third vertical coordinate difference between the third reference point and the second reference point, further comprising:

3. The method of claim 1, wherein after determining the first ordinate difference between the second reference point and the first reference point, further comprising:

4. The method of claim 1, wherein after determining that the space to be identified is a space available for parking, further comprising:

5. An identification device of a parking space, characterized in that the device comprises:

a first determining module, configured to determine, during driving, when a target reference vehicle located in a driving direction of the vehicle includes a first reference vehicle and a second reference vehicle, location information of a first reference point and a second reference point of the first reference vehicle in a plane coordinate system, and location information of a third reference point and a fourth reference point of the second reference vehicle in the plane coordinate system, where the first reference vehicle is a first vehicle that the vehicle passes through when driving according to the driving direction, the second reference vehicle is a second vehicle that the vehicle passes through when driving according to the driving direction, the first reference point and the second reference point are two frame points located at left and right positions of a vehicle body of the first reference vehicle, the third reference point and the fourth reference point are two frame points located at left and right positions of the vehicle body of the second reference vehicle, and the plane coordinate system uses a center point of a rear wheel base of the vehicle as an origin, a coordinate system which is established by taking the driving direction as the positive direction of a longitudinal axis and taking the right side of the driving direction as the positive direction of a transverse axis; when the target reference vehicle comprises the first reference vehicle and does not comprise the second reference vehicle, determining position information of a first reference point and a second reference point in the first reference vehicle in the plane coordinate system;

a second determination module, configured to determine a first vertical coordinate difference between the second reference point and the first reference point, a second vertical coordinate difference between the fourth reference point and the third reference point, and a third vertical coordinate difference between the third reference point and the second reference point when the target reference vehicle includes a first reference vehicle and a second reference vehicle, and the reference points of the target reference vehicle include a first reference point and a second reference point in the first reference vehicle, and a third reference point and a fourth reference point of the second reference vehicle; when the difference value between the first vertical coordinate difference value and the first length threshold value is smaller than or equal to a difference threshold value, the third vertical coordinate difference value is larger than or equal to a second length threshold value, and the third vertical coordinate difference value is smaller than or equal to a third length threshold value, determining a first space depth of a space to be identified between the first reference vehicle and the second reference vehicle; when the depth of the first space is greater than or equal to a first depth threshold value, determining that the space to be identified meets a vertical parking space condition, wherein the space to be identified is a vertical parking space to be identified or a horizontal parking space to be identified; when the target reference vehicle comprises a first reference vehicle and does not comprise a second reference vehicle, and the reference points comprise a first reference point and a second reference point of the first reference vehicle, determining a first ordinate difference between the second reference point and the first reference point; when the difference value between the first vertical coordinate difference value and a first length threshold value is smaller than or equal to a difference threshold value, and the first vertical coordinate difference value is smaller than or equal to a seventh length threshold value, determining a first space depth of a space to be identified adjacent to the first reference vehicle; when the depth of the first space is greater than or equal to a first depth threshold value, determining that the space to be identified meets a vertical parking space condition;

6. A computer-readable storage medium, characterized in that a computer program is stored in the storage medium, which computer program, when being executed by a processor, carries out the steps of the method of one of the claims 1 to 4.