CN112562391B - Parking space updating method and device - Google Patents
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Abstract
The embodiment of the invention provides a method and a device for updating a parking space, wherein the method comprises the following steps: the method comprises the steps of obtaining first parking space information aiming at a target parking space, wherein the first parking space information is vertical parking space information, determining an interested area corresponding to the first parking space information in a parking process, determining second parking space information aiming at the target parking space in the interested area, judging whether the target parking space is an inclined parking space or not according to the first parking space information and the second parking space information, and updating the first parking space information when the target parking space is judged to be the inclined parking space. According to the embodiment of the invention, the determination of the inclined parking spaces is realized, the parking space information is updated when the inclined parking spaces are determined, the parking accuracy is improved, the condition that the parking cannot be finished due to the fact that the obstacles are detected in the parking process is avoided, and the parking efficiency is improved.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a method and a device for updating a parking space.
Background
In the process of parking, sensing equipment in a vehicle is usually adopted to collect parking space information, and an empty parking space is found according to the collected information so as to park.
However, when the vehicle is driving, the accuracy of the information of the parking spaces collected by the sensing device is affected by various aspects, such as the vehicle speed, the driving direction, the distance and the like, so that the types of the parking spaces cannot be accurately distinguished, and if the parking spaces are vertical parking spaces or inclined parking spaces and the types of the parking spaces cannot be accurately distinguished, the vehicle can not be accurately parked, and if an obstacle is detected in the parking process, the obstacle avoidance function of the vehicle can be triggered, the parking cannot be completed, and the parking efficiency is reduced.
Disclosure of Invention
In view of the above, it is proposed to provide a method and apparatus for space renewal that overcomes or at least partially solves the above mentioned problems, comprising:
a method of parking spot update, the method comprising:
acquiring first parking space information aiming at a target parking space, wherein the first parking space information is vertical parking space information;
in the parking process, determining an interested area corresponding to the first parking space information;
in the region of interest, determining second parking space information aiming at the target parking space;
and judging whether the target parking space is an inclined parking space or not according to the first parking space information and the second parking space information, and updating the first parking space information when the target parking space is judged to be the inclined parking space.
Optionally, the second parking space information includes second parking space line information, and the determining, according to the first parking space information and the second parking space information, whether the target parking space is an inclined parking space includes:
determining first vehicle position line information corresponding to the region of interest from the first vehicle position information;
determining parking space offset information according to the first parking space line information and the second parking space line information;
and when the parking space deviation information meets a preset condition, judging that the target parking space is a slant parking space.
Optionally, the parking space offset information includes a parking space line offset angle, and the preset condition includes:
the offset angle of the parking space line is larger than a preset offset angle.
Optionally, the determining, in the region of interest, second parking space information for the target parking space includes:
determining a plurality of points of interest in the region of interest;
and determining second parking line information aiming at the target parking space according to the plurality of interest points.
Optionally, before determining the parking space offset information according to the first parking space line information and the second parking space line information, the method further includes:
determining correlation coefficients of the plurality of points of interest with the second vehicle line information;
and when the correlation coefficient is greater than a preset coefficient, executing the step of determining the parking space deviation information according to the first parking space line information and the second parking space line information.
Optionally, when it is determined that the target parking space is an inclined parking space, updating the first parking space information includes:
determining a direction vector according to the second bit information;
and updating the first parking space information according to the direction vector.
Optionally, in the parking process, determining an area of interest corresponding to the first parking space information includes:
in the parking process, determining a target parking position corresponding to the first parking space information;
and determining an interested area corresponding to the first parking space information according to the target parking position.
A device for space renewal, the device comprising:
the system comprises a first parking space information acquisition module, a first parking space information acquisition module and a second parking space information acquisition module, wherein the first parking space information acquisition module is used for acquiring first parking space information aiming at a target parking space, and the first parking space information is vertical parking space information;
the interesting area determining module is used for determining an interesting area corresponding to the first parking space information in the parking process;
the second parking space information determining module is used for determining second parking space information aiming at the target parking space in the region of interest;
and the diagonal parking space judging module is used for judging whether the target parking space is a diagonal parking space according to the first parking space information and the second parking space information and updating the first parking space information when the target parking space is judged to be the diagonal parking space.
A vehicle comprising a processor, a memory and a computer program stored on and executable on said memory, said computer program when executed by said processor implementing a method of parking space update as described above.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a method of space updating as set forth above.
The embodiment of the invention has the following advantages:
in the embodiment of the invention, by acquiring first parking space information aiming at a target parking space, wherein the first parking space information is vertical parking space information, determining an interested area corresponding to the first parking space information in the parking process, determining second parking space information aiming at the target parking space in the interested area, judging whether the target parking space is an inclined parking space or not according to the first parking space information and the second parking space information, updating the first parking space information when the target parking space is judged to be the inclined parking space, realizing the determination of the inclined parking space, and updating the parking space information when the inclined parking space is determined, improving the parking accuracy, avoiding the condition that the parking cannot be finished due to the fact that an obstacle is detected in the parking process, and improving the parking efficiency.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the description of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a flowchart illustrating steps of a method for updating a parking space according to an embodiment of the present invention;
FIG. 2a is a schematic view of a region of interest provided by an embodiment of the present invention;
fig. 2b is a schematic diagram illustrating an example of a parking space updating method according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating steps of another method for updating parking spaces according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a parking space updating device according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description thereof. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a flowchart of steps of a method for updating a parking space according to an embodiment of the present invention is shown, which may specifically include the following steps:
the target parking space may be an empty parking space, that is, a parking space that can be used for parking, the first parking space information may be generated according to information collected by the sensing device in the vehicle for the target parking space, and the first parking space information may include parking space line information corresponding to a vehicle line in the target parking space and corner point information corresponding to corner points in the target parking space.
In the parking process, the information of the parking spaces can be collected through the sensing device in the vehicle, so that the parking spaces which can be used for parking can be found according to the collected information of the parking spaces, and after the target parking space is found, first parking space information can be generated according to the information collected aiming at the target parking space.
The accuracy of the sensing equipment for acquiring the parking space information is influenced by various aspects, for example, the acquisition accuracy of the sensing equipment is influenced by the fact that the vehicle speed is too high, the acquisition accuracy of the sensing equipment is influenced by the fact that the driving direction deflects, the acquisition accuracy of the sensing equipment is influenced by the fact that the sensing equipment is too far away from an acquisition object, and the like, the type of the parking space cannot be accurately determined, for example, it is determined that a target parking space is a vertical parking space or an inclined-row parking space, generation algorithms of first parking space information corresponding to different types of parking spaces are different, and therefore on the basis that the type of the parking space cannot be determined, the corresponding first parking space information cannot be generated according to the acquired parking space information.
In order to generate the first parking space information for parking, a generation algorithm of the first parking space information corresponding to the vertical parking space may be adopted to generate the first parking space information, that is, the first parking space information may be vertical parking space information corresponding to the vertical parking space.
102, in the parking process, determining an interested area corresponding to the first parking space information;
the region of interest may be an artificially set region.
After the target parking space is found and the corresponding first parking space information is generated, parking can be performed according to the first parking space information, and in the process of parking, an interested area corresponding to the first parking space information is determined.
For example, the parking space line in the target parking space and parking space line information corresponding to the parking space line can be determined according to the first parking space information, the area where the parking space line in the target parking space is located can be set as an interested area, and the area where the parking space line in the target parking space is located can be determined according to the parking space line information.
Because the first parking space information can be generated by default by adopting a generation algorithm corresponding to the vertical parking space, even if the target parking space is actually an inclined parking space, the vertical parking space information corresponding to the vertical parking space is generated according to the acquired information of the parking space, and is not consistent with the actual target parking space, and the situation that the vehicle exits from parking or collides with the vehicle in the adjacent parking space due to the fact that an obstacle avoidance event is triggered when the vehicle is parked is easily caused.
In practical application, a region where the target parking space may exist in practice, that is, an interested region, may be set according to the first parking space information, and whether information related to the target parking space exists in the interested region may be detected to determine the type of the parking space and perform parking.
In an embodiment of the present invention, step 102 may include the following sub-steps:
a substep 11, determining a target parking position corresponding to the first parking space information in the parking process;
the target parking position may be a position available for parking in the target parking space.
After the target parking space is found and the corresponding first parking space information is generated, the parking space line information and the angular point information in the first parking space information can be determined, and then the target parking position can be determined according to the parking space line information and the angular point information.
And a substep 12 of determining an interesting area corresponding to the first parking space information according to the target parking position.
After the target parking position is determined, the region of interest corresponding to the first vehicle position information can be determined according to the target parking position.
In practical application, a local coordinate system can be established by taking the target parking space as an origin, the size information of the parking space corresponding to the target parking space in the first parking space information can be determined, and an area where the target parking space may exist in practice can be determined according to the size information and the coordinate system.
As shown in fig. 2a, the first parking space information may include information of line segments AB, BC, CD, DE, EF, a rectangular box located in an inner area of the line segments BC, CD, DE may be represented as a target parking position, and the area of interest may be represented using the following formula:
x1<x2+h2
y<Y-h1
wherein, x2 and Y may be size information of the target parking space, x2 may be a width of the target parking space, Y may be a length of the target parking space, and h1 and h2 may be preset values.
the second parking space information may be generated according to information collected by the sensing device in the vehicle for the target parking space, and the second parking space information may include parking space line information corresponding to a vehicle line in the target parking space and angle point information corresponding to an angle point in the target parking space.
After the region of interest is determined, sensing equipment in the vehicle can be adopted to collect information in the region of interest in real time, and second parking space information for the target parking space is determined according to the information collected in real time.
In practical application, since the vehicle gradually enters the target parking position in the target parking space, the vehicle speed is gradually reduced, and the distance between the vehicle and the target parking space is also gradually reduced, so that the influence of the factors such as the distance, the vehicle speed and the like on the accuracy of information acquired by the sensing equipment is reduced, and the accuracy of the information acquired by the current sensing equipment can be higher, and then the accuracy of the second parking space information determined according to the currently acquired information can be determined to be higher.
And 104, judging whether the target parking space is an oblique parking space or not according to the first parking space information and the second parking space information, and updating the first parking space information when the target parking space is judged to be the oblique parking space.
After the second parking space information is determined, the first parking space information and the second parking space information can be compared to determine the deviation between the first parking space information and the second parking space information, and then whether the target parking space is an inclined parking space or not can be judged according to the deviation, and when the target parking space is judged to be the inclined parking space, the first parking space information is updated.
In practical application, because the second parking space information has higher precision, the information of the target parking space, such as the direction information of the target parking space, can be accurately described, and then the first parking space information and the second parking space information can be compared to determine the deviation between the target parking spaces described by the first parking space information and the second parking space information, whether the target parking space is an oblique parking space can be judged according to the deviation, when the deviation meets a certain condition, the target parking space can be judged to be the oblique parking space, the first parking space information is updated by adopting the second parking space information, so that the updated first parking space information is adopted for parking, and when the deviation does not meet a certain condition, the target parking space can be judged to be a non-oblique parking space, and then the first parking space information can be adopted for parking.
In an embodiment of the present invention, when it is determined that the target parking space is an inclined parking space, the step of updating the first parking space information may further include the following substeps:
a substep 21, determining a direction vector according to the second bit information;
the direction vector may be a direction vector of the target parking space described by the second parking space information.
When the target parking space is determined to be the inclined parking space, the direction vector of the target parking space described by the second parking space information can be determined.
In practical application, the parking space line information in the second parking space information can be determined, and then the direction vector of the parking space line information can be determined, namely the direction vector of the target parking space described by the second parking space information.
And a substep 22 of updating the first parking space information according to the direction vector.
After determining the direction vector, the direction of the vehicle location line in the first vehicle location information may be updated according to the direction vector.
As shown in fig. 2b, the line segment a1a2 may be parking space line information in the second parking space information, and a direction vector of the parking space line may be determined according to the parking space line information, so as to update the parking space line information in the first parking space information according to the direction vector, for example, update the directions of the line segments BC and DE.
In the embodiment of the invention, the first parking space information aiming at the target parking space is acquired, the region of interest corresponding to the first parking space information is determined in the parking process, the second parking space information aiming at the target parking space is determined in the region of interest, whether the target parking space is an inclined parking space or not is judged according to the first parking space information and the second parking space information, the first parking space information is updated when the target parking space is judged to be the inclined parking space, the inclined parking space is determined, the parking space information is updated when the inclined parking space is determined, the parking accuracy is improved, the condition that the parking cannot be finished due to the fact that an obstacle is detected in the parking process is avoided, and the parking efficiency is improved.
Referring to fig. 3, a flowchart of steps of another method for updating a parking space according to an embodiment of the present invention is shown, which specifically includes the following steps:
wherein the interest point may be a radar point within the region of interest.
In the parking process, sensing equipment in the vehicle can be adopted to collect information of the target parking space in real time, and a plurality of radar points in the region of interest are determined.
wherein the second bit of information may include second bit of information.
After the plurality of interest points are determined, second vehicle line information for the target vehicle space may be generated according to the plurality of interest points.
In practical application, linear fitting can be performed on a plurality of interest points, a line segment with the highest linear correlation degree with the plurality of interest points is generated, and the line segment can be regarded as a parking space line in a target parking space, namely second parking space line information.
In an embodiment of the present invention, some interest points may be selected from the multiple interest points for linear fitting, for example, 10 recently collected interest points are selected for linear fitting, or multiple groups of interest points may be selected from the multiple interest points, for example, every 10 interest points are set, and each group of interest points is subjected to linear fitting to generate a multi-segment line, so that the multi-segment line may be subjected to weighted fusion to obtain more accurate second vehicle line information.
after the second line of vehicle information in the second line of vehicle information is determined, the first line of vehicle information corresponding to the region of interest may be determined from the first line of vehicle information, and in practical applications, the direction information corresponding to the line of vehicle in the first line of vehicle information may also be determined.
the parking space offset information may include a parking space line offset angle.
After the first line information is determined, the direction information corresponding to the line of the vehicle in the second line information can be determined, and then the parking space line offset angle between the parking space line corresponding to the first line information and the parking space line corresponding to the second line information can be determined according to the direction information corresponding to the line of the vehicle in the first line information and the direction information corresponding to the line of the vehicle in the second line information.
In an embodiment of the present invention, before step 306, the following steps may be further included:
and determining correlation coefficients of the plurality of interest points and the second vehicle line information, and executing the parking space offset information according to the first vehicle line information and the second vehicle line information when the correlation coefficients are larger than preset coefficients.
Wherein the predetermined coefficient may be 95%.
In practical application, correlation coefficients of a plurality of interest points and second car line information can be determined, whether the correlation coefficients are larger than preset coefficients or not is judged, when the correlation coefficients are larger than the preset coefficients, the second car line information generated according to the plurality of interest points can be accurately represented as a car position line of a target car position, and then the second car line information can be adopted to determine more accurate car position deviation information.
When the correlation coefficient is smaller than the preset coefficient, it may be considered that the second vehicle line information generated according to the multiple points of interest cannot be accurately represented as the parking space line of the target parking space, and thus the second vehicle line information cannot be used to determine the parking space deviation information.
Wherein the preset condition may include: the offset angle of the vehicle line is larger than the preset offset angle.
After the parking space deviation information is determined, whether the parking space deviation information meets a preset condition or not can be judged, when the parking space line deviation angle in the parking space deviation information is smaller than or equal to the preset deviation angle, it can be judged that the target parking space is not an oblique-column parking space, the first parking space information can be adopted for parking, when the parking space line deviation angle in the parking space deviation information is larger than the preset deviation angle, it can be judged that the target parking space is the oblique-column parking space, and when the target parking space is judged to be the oblique-column parking space, the first parking space information is updated.
In the embodiment of the invention, by acquiring first parking space information aiming at a target parking space, wherein the first parking space information is vertical parking space information, in the parking process, an interested area corresponding to the first parking space information is determined, in the interested area, second parking space information aiming at the target parking space is determined, wherein the second parking space information can comprise second parking space line information, the first parking space line information corresponding to the interested area is determined from the first parking space information, parking space offset information is determined according to the first parking space line information and the second parking space line information, when the parking space offset information meets a preset condition, the target parking space is determined to be an inclined parking space, and when the target parking space is determined to be the inclined parking space, the first parking space information is updated, so that the determination of the inclined parking space is realized, the inclined parking space is determined based on the parking space offset information, the accuracy of the inclined parking space determination is improved, and the parking space information is updated when the inclined parking space is determined, so that the situation that the parking cannot be completed due to the obstacle detected in the parking process is avoided, and the efficiency of the parking is improved.
It should be noted that, for simplicity of description, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the illustrated order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments of the present invention. Further, those of skill in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the embodiments of the invention.
Referring to fig. 4, a schematic structural diagram of a parking space updating device provided in an embodiment of the present invention is shown, which may specifically include the following modules:
a first parking space information obtaining module 401, configured to obtain first parking space information for a target parking space, where the first parking space information is vertical parking space information;
an interest region determining module 402, configured to determine an interest region corresponding to the first vehicle location information during a parking process;
a second parking space information determining module 403, configured to determine, in the region of interest, second parking space information for the target parking space;
and an oblique parking space determining module 404, configured to determine whether the target parking space is an oblique parking space according to the first parking space information and the second parking space information, and update the first parking space information when it is determined that the target parking space is an oblique parking space.
In an embodiment of the invention, the second parking space information includes second parking space line information, and the oblique parking space determining module 404 includes:
the first vehicle position line information determining submodule is used for determining first vehicle position line information corresponding to the region of interest from the first vehicle position information;
the parking space offset information determining submodule is used for determining parking space offset information according to the first vehicle line information and the second vehicle line information;
and the diagonal parking space judgment submodule is used for judging that the target parking space is a diagonal parking space when the parking space deviation information meets the preset condition.
In an embodiment of the present invention, the parking space offset information includes a parking space line offset angle, and the preset condition includes:
the offset angle of the vehicle line is larger than a preset offset angle.
In an embodiment of the present invention, the second seat information determining module 403 includes:
an interest point determination submodule for determining a plurality of interest points in the region of interest;
and the second vehicle line information determining submodule is used for determining second vehicle line information aiming at the target parking space according to the plurality of interest points.
In an embodiment of the present invention, the apparatus further includes:
a correlation coefficient determination module for determining correlation coefficients of the plurality of points of interest and the second vehicle line information;
and the execution module is used for executing the parking space deviation information according to the first parking space line information and the second parking space line information when the correlation coefficient is greater than a preset coefficient.
In an embodiment of the present invention, the oblique parking space determining module 404 further includes:
the direction vector determining submodule is used for determining a direction vector according to the second vehicle position information;
and the first vehicle position information updating submodule is used for updating the first vehicle position information according to the direction vector.
In an embodiment of the present invention, the region of interest determining module 402 includes:
the target parking position determining submodule is used for determining a target parking position corresponding to the first parking position information in the parking process;
and the corresponding interested area determining submodule is used for determining the interested area corresponding to the first parking space information according to the target parking position.
In the embodiment of the invention, the first parking space information aiming at the target parking space is acquired, the region of interest corresponding to the first parking space information is determined in the parking process, the second parking space information aiming at the target parking space is determined in the region of interest, whether the target parking space is an inclined parking space or not is judged according to the first parking space information and the second parking space information, the first parking space information is updated when the target parking space is judged to be the inclined parking space, the inclined parking space is determined, the parking space information is updated when the inclined parking space is determined, the parking accuracy is improved, the condition that the parking cannot be finished due to the fact that an obstacle is detected in the parking process is avoided, and the parking efficiency is improved.
An embodiment of the present invention further provides a vehicle, which may include a processor, a memory, and a computer program stored in the memory and capable of running on the processor, where the computer program, when executed by the processor, implements the above method for updating a parking space.
An embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the method for updating a parking space is implemented.
For the apparatus embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and reference may be made to the partial description of the method embodiment for relevant points.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "include", "including" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or terminal device including a series of elements includes not only those elements but also other elements not explicitly listed or inherent to such process, method, article, or terminal device. Without further limitation, an element defined by the phrases "comprising one of \ 8230; \8230;" does not exclude the presence of additional like elements in a process, method, article, or terminal device that comprises the element.
The method and the device for updating the parking space are introduced in detail, specific examples are applied in the method to explain the principle and the implementation mode of the invention, and the description of the embodiments is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (9)
1. A method for updating a parking space, the method comprising:
acquiring first parking space information aiming at a target parking space, wherein the first parking space information is vertical parking space information;
in the parking process, determining an interested area where first vehicle location line information corresponding to the first vehicle location information is located;
in the region of interest, determining second parking space information aiming at the target parking space; the first parking space information and the second parking space information are parking space information acquired when a vehicle runs at different speeds at different positions away from a target parking space, the distance between the position of the vehicle corresponding to the first parking space information and the target parking space is greater than the distance between the position of the vehicle corresponding to the second parking space information and the target parking space, and the running speed of the position of the vehicle corresponding to the first parking space information is greater than the running speed of the position of the vehicle corresponding to the second parking space information;
judging whether the target parking space is an inclined line parking space or not according to parking space deviation information between the first parking space line information and second parking space line information corresponding to the second parking space information, and updating the first parking space information by using the second parking space information when the target parking space is judged to be the inclined line parking space;
in the parking process, determining an area of interest where first vehicle location line information corresponding to the first vehicle location information is located includes:
in the parking process, determining a target parking position corresponding to the first parking space information, wherein the target parking position is a position which can be used for parking in the target parking space;
and determining an interested area corresponding to the first parking space information according to the target parking position.
2. The method of claim 1, wherein the determining whether the target parking space is a skewed parking space comprises:
and when the parking space deviation information meets a preset condition, judging that the target parking space is a slant parking space.
3. The method of claim 2, wherein the parking space offset information comprises a parking space line offset angle, and the preset condition comprises:
the offset angle of the vehicle line is larger than a preset offset angle.
4. The method according to claim 2 or 3, wherein the determining second parking space information for the target parking space in the region of interest comprises:
determining a plurality of points of interest in the region of interest;
and determining second parking line information aiming at the target parking space according to the plurality of interest points.
5. The method according to claim 4, wherein before the determining whether the target parking space is an off-ramp parking space according to the parking space offset information of the second line information corresponding to the first line information and the second line information, further comprising:
determining correlation coefficients of the plurality of points of interest with the second vehicle line information;
and when the correlation coefficient is greater than a preset coefficient, determining parking space deviation information according to the first vehicle line information and the second vehicle line information.
6. The method according to claim 1, 2 or 3, wherein the updating the first parking space information with the second parking space information when the target parking space is determined to be a strabismus parking space comprises:
determining a direction vector according to the second bit information;
and updating the first parking space information according to the direction vector.
7. A device for updating parking spaces, which is characterized in that the device comprises:
the system comprises a first parking space information acquisition module, a first parking space information acquisition module and a second parking space information acquisition module, wherein the first parking space information acquisition module is used for acquiring first parking space information aiming at a target parking space, and the first parking space information is vertical parking space information;
the interesting area determining module is used for determining an interesting area where the first vehicle position line information corresponding to the first vehicle position information is located in the parking process;
the second parking space information determining module is used for determining second parking space information aiming at the target parking space in the region of interest; the first parking space information and the second parking space information are parking space information acquired when a vehicle is not positioned at the same distance from a target parking space and runs at different speeds, the distance between the position of the vehicle corresponding to the first parking space information and the target parking space is greater than the distance between the position of the vehicle corresponding to the second parking space information and the target parking space, and the running speed of the position of the vehicle corresponding to the first parking space information is greater than the running speed of the position of the vehicle corresponding to the second parking space information;
the oblique parking space judging module is used for judging whether the target parking space is an oblique parking space or not according to parking space offset information between the first parking space line information and second parking space line information corresponding to the second parking space information, and updating the first parking space information by using the second parking space information when the target parking space is judged to be the oblique parking space;
wherein the region of interest determination module comprises:
the target parking position determining submodule is used for determining a target parking position corresponding to the first parking position information in the parking process; the target parking space is a position which can be used for parking in the target parking space;
and the corresponding interested area determining submodule is used for determining the interested area corresponding to the first parking space information according to the target parking position.
8. A vehicle comprising a processor, a memory and a computer program stored on and executable on the memory, the computer program, when executed by the processor, implementing a method of space updating as claimed in any one of claims 1 to 6.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a method for space updating according to any one of claims 1 to 6.
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| CN202011377450.4A CN112562391B (en) | 2020-11-30 | 2020-11-30 | Parking space updating method and device |
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| CN202011377450.4A CN112562391B (en) | 2020-11-30 | 2020-11-30 | Parking space updating method and device |
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| KR101449152B1 (en) * | 2012-12-03 | 2014-10-08 | 현대오트론 주식회사 | Method of assisting park and apparstus performing the same |
| CN111508260A (en) * | 2019-01-30 | 2020-08-07 | 上海欧菲智能车联科技有限公司 | Vehicle parking space detection method, device and system |
| CN111762152B (en) * | 2019-03-30 | 2022-05-24 | 上海欧菲智能车联科技有限公司 | Parking method, parking device, parking equipment, vehicle and computer-readable storage medium |
| CN110472580B (en) * | 2019-08-16 | 2022-04-05 | 北京茵沃汽车科技有限公司 | Method, device and storage medium for detecting parking stall based on panoramic image |
| CN110969655B (en) * | 2019-10-24 | 2023-08-18 | 百度在线网络技术（北京）有限公司 | Method, device, equipment, storage medium and vehicle for detecting parking space |
| CN111497828B (en) * | 2020-02-17 | 2021-05-04 | 湖北亿咖通科技有限公司 | Automatic parking method, device, medium and equipment |
| CN111731275B (en) * | 2020-06-30 | 2021-12-07 | 中国第一汽车股份有限公司 | Automatic parking method and device for spatial oblique parking spaces, vehicle and storage medium |
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