CN115042806A - Method and device for displaying paths of passenger car parking and electronic equipment - Google Patents

Abstract

The present application relates to a path display method, device and electronic device for valet parking, which are used to solve the problem that the existing valet parking solution cannot provide real-time vehicle location information or state information remotely, and there is a security risk. The method includes acquiring a reference driving trajectory of the vehicle, then periodically receiving real-time driving information of the vehicle automatically traveling based on the reference driving trajectory, comparing the real-time driving information with the reference driving information contained in the reference driving trajectory, and constructing the actual driving information of the vehicle in real time. Driving path, and then put the actual driving path in the first display area for visual display. Based on the above method, the user can grasp the actual driving path of the vehicle and the actual environment information through the remote device, thereby meeting the user's usage requirements in some scenarios.

Description

Route display method, device and electronic device for valet parking

technical field

The present application relates to the technical field of intelligent driving, and in particular, to a path display method, device and electronic device for valet parking.

Background technique

The existing valet parking solution can enable the vehicle to automatically complete the operations of parking in the garage and parking out of the parking space according to the memory parking route, that is, the existing valet parking solution has realized the automatic driving of the vehicle to complete the valet parking.

However, the above-mentioned valet parking requires automatic driving of the vehicle, which has certain potential safety hazards in practical applications. In view of this, the driver or operator may wish to obtain real-time information on the driving position of the vehicle during automatic driving during the process of memory parking of the vehicle. However, there is still a lack of a path display method for valet parking to solve the above problem.

SUMMARY OF THE INVENTION

The present application provides a path display method, device and electronic device for valet parking, which can be used to expand the existing valet parking scheme without changing the controller hardware and controller, so as to provide real-time driving The operator or operator provides real-time location information or status information.

In a first aspect, the present application provides a path display method for valet parking, the method comprising:

In response to receiving a start instruction for valet parking of the vehicle, acquiring a reference driving trajectory of the vehicle;

After determining that the vehicle travels based on the reference travel trajectory, periodically receiving the travel information of the vehicle;

Based on the driving information of the vehicle, the actual driving path of the vehicle is constructed on the reference driving track, and the actual driving path is placed in the first display area for visual display; the actual driving path is received for displaying the actual driving path The display instruction of the driving state information of the designated position in the vehicle; based on the display instruction, the environmental information of the designated position is obtained; wherein, the environmental information is the information collected by the vehicle at the designated position based on the sensing device, so the The environmental information includes at least 3D view information of the surrounding environment of the vehicle at the designated position; the environmental information is placed in the second display area for visual display.

In some embodiments, the acquiring the reference driving track of the vehicle includes: acquiring N reference coordinates of the vehicle; wherein, N is an integer greater than 1, and the reference coordinates are collected periodically for the driving process of the vehicle obtain the M sub-reference coordinates corresponding to each of the N reference coordinates; wherein, M is an integer greater than 1, and the sub-reference coordinates are the vehicle body regularly collected for the driving process of the vehicle Contour coordinates; based on the N reference coordinates and the M sub-reference coordinates corresponding to each of the reference coordinates, construct a reference driving trajectory of the vehicle.

In some embodiments, the acquiring M sub-reference coordinates corresponding to each of the N reference coordinates includes: for each of the N reference coordinates, performing the following operation: determining the Describe the M sub-reference coordinates corresponding to each reference coordinate, and determine the priority identifiers corresponding to the M sub-reference coordinates, and obtain M priority identifiers; Based on the arrangement order of the M priority identifiers, sequentially obtain the The M priority identifications correspond to respective sub-reference coordinates until the M sub-reference coordinates corresponding to each of the reference coordinates are acquired.

In some embodiments, the periodically receiving the driving information of the vehicle includes: in response to satisfying a preset time period, receiving a relative driving position and a heading angle of the vehicle; wherein the relative driving position represents the The offset between the actual driving path of the vehicle and the reference driving trajectory; receiving the environmental information collected by the vehicle based on the sensing device; taking the relative driving position, the heading angle and the environmental information as periodic The received driving information of the vehicle.

In some embodiments, the constructing the actual driving path of the vehicle on the reference driving trajectory based on the driving information of the vehicle includes:

Obtain the relative driving position and heading angle of the vehicle from the driving information of the vehicle;

Based on the relative driving position and the heading angle, an actual driving path of the vehicle is constructed on the reference driving trajectory.

In some embodiments, placing the actual driving path in the first display area for visual display includes: placing the actual driving path superimposed with the reference driving trajectory in the first display area for visual display; In response to periodically receiving the travel information of the vehicle again, the actual travel path in the first display area is updated based on the travel information received again.

In a second aspect, the present application provides a path display device for valet parking, the device comprising:

an acquisition module, in response to receiving a start instruction for valet parking of the vehicle, to acquire the reference driving track of the vehicle;

a receiving module, after determining that the vehicle travels based on the reference driving track, periodically receiving the driving information of the vehicle;

A display module, based on the driving information of the vehicle, constructs the actual driving path of the vehicle on the reference driving track, and places the actual driving path in the first display area for visual display; Display instruction of the driving state information of the specified position in the actual driving path; based on the display instruction, obtain the environmental information of the specified position; wherein, the environmental information is collected by the vehicle at the specified position based on the sensing device information, the environment information includes at least 3D view information of the surrounding environment of the vehicle at the designated position; the environment information is placed in the second display area for visual display.

In some embodiments, the obtaining of the reference driving track of the vehicle, the obtaining module is specifically configured to: obtain N reference coordinates of the vehicle; wherein, N is an integer greater than 1, and the reference coordinates are for all the reference coordinates of the vehicle. Obtain the position coordinates regularly collected during the driving process of the vehicle; obtain M sub-reference coordinates corresponding to each of the N reference coordinates; wherein, M is an integer greater than 1, and the sub-reference coordinates are for the vehicle. based on the N reference coordinates and the M sub-reference coordinates corresponding to each of the reference coordinates, construct the reference driving track of the vehicle.

In some embodiments, the acquiring M sub-reference coordinates corresponding to each of the N reference coordinates, the acquiring module is specifically configured to: for each reference coordinate in the N reference coordinates , and perform the following operations: determine the M sub-reference coordinates corresponding to each of the reference coordinates, and determine the priority identifiers corresponding to the M sub-reference coordinates, and obtain M priority identifiers; based on the M priority identifiers In order to arrange the order, the sub-reference coordinates corresponding to each of the M priority identifiers are sequentially acquired until the M sub-reference coordinates corresponding to each of the reference coordinates are acquired.

In some embodiments, the periodic receiving of the driving information of the vehicle, the receiving module is specifically configured to: in response to satisfying a preset time period, receive the relative driving position and the heading angle of the vehicle; wherein, the The relative driving position represents the offset between the actual driving path of the vehicle and the reference driving trajectory; receiving the environmental information collected by the vehicle based on the sensing device; converting the relative driving position, the heading angle and the The environmental information is periodically received as travel information of the vehicle.

In some embodiments, the actual driving path of the vehicle is constructed on the reference driving track based on the driving information of the vehicle, and the display module is specifically configured to: acquire from the driving information of the vehicle The relative driving position and heading angle of the vehicle; based on the relative driving position and the heading angle, the actual driving path of the vehicle is constructed on the reference driving trajectory.

In some implementation manners, placing the actual driving path in a first display area for visual display, the display module is specifically configured to: place the actual driving path superimposed with the reference driving trajectory in a first display area. A display area is visually displayed; in response to periodically receiving the driving information of the vehicle again, the actual driving route in the first display area is updated based on the driving information received again.

In a third aspect, the present application provides an electronic device, the electronic device comprising:

memory for storing computer programs;

The processor is configured to implement the above-mentioned steps of a path display method for valet parking when executing the computer program stored in the memory.

In a fourth aspect, the present application provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the above-mentioned path display for valet parking is realized method steps.

For each aspect of the second aspect to the fourth aspect and the possible technical effects achieved by each aspect, please refer to the above description of the technical effects that can be achieved by the first aspect or various possible solutions in the first aspect, which will not be repeated here.

Description of drawings

FIG. 1 is a first schematic diagram of a possible application scenario provided by this application;

2 is a second schematic diagram of a possible application scenario provided by this application;

3 is a flow chart of a method for displaying a path for valet parking provided by the present application;

4 is a schematic diagram of a path display device for valet parking provided by the application;

FIG. 5 is a schematic diagram of the structure of an electronic device provided by the present application.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings. The specific operation methods in the method embodiments may also be applied to the apparatus embodiments or the system embodiments.

In the description of this application "plurality" is understood to mean "at least two". "And/or", which describes the association relationship of the associated objects, means that there can be three kinds of relationships, for example, A and/or B, which can mean that A exists alone, A and B exist at the same time, and B exists alone. A and B are connected, which can be expressed as two cases: A and B are directly connected and A and B are connected through C. In addition, in the description of this application, words such as "first" and "second" are only used for the purpose of distinguishing and describing, and cannot be understood as indicating or implying relative importance, nor can they be understood as indicating or implying order.

The solutions provided by the embodiments of the present application relate to intelligent driving technologies. Specifically, the embodiment of the present application is applied to a remote device, and in response to receiving a start instruction for valet parking of a vehicle, obtains a reference driving trajectory of the vehicle, and periodically receives the driving of the vehicle after it is determined that the vehicle travels based on the reference driving trajectory Then, based on the driving information of the vehicle, the actual driving path of the vehicle is constructed on the reference driving track, and the actual driving path is placed in the first display area for visual display.

In addition, if a display instruction for displaying the driving state information of the specified position in the above-mentioned actual driving route is received, then based on the display instruction, the environmental information of the specified position is acquired, and the environmental information is the information collected by the vehicle at the specified position based on the sensing device, And the environmental information includes 3D (3-dimensional) view information of the surrounding environment of the vehicle at the designated position, and then the environmental information is placed in the second display area for visual display.

The design ideas of the embodiments of the present application are briefly introduced below.

The current valet parking solution can record the route created by the driver driving the vehicle based on the vehicle's own system, that is, the reference driving trajectory, which includes at least starting point information, target parking space information and end point information. In the practical application of the valet parking scheme, in response to the valet parking, the vehicle can be controlled to drive into the target parking space based on the reference driving trajectory to complete the operation of parking and warehousing; in addition, the vehicle can also be controlled to park from the target parking space. out to automatically drive to the end point of the reference driving trajectory.

Further, the existing valet parking solution provides a recording and automatic driving method with reference to the driving trajectory. Although this solution brings many conveniences to traffic travel and user control of the car, there are still certain safety hazards in practical applications.

In addition, the driver or operator can only obtain the real-time location information or status information of the vehicle in real time by being in the driving seat or following the vehicle during the above-mentioned valet parking process. Valet parking solutions will not meet the needs of users.

In other words, in practical applications, the existing valet parking solution cannot provide real-time location information or status information for the driver or operator in real time, which not only poses a safety risk, but also has the problem that it cannot meet the needs of users. .

In view of this, an embodiment of the present application provides a path method for valet parking, in which a remote device can obtain a reference driving trajectory of the vehicle, that is, the vehicle can realize automatic driving based on the reference driving trajectory, and then the remote device cycles The real-time driving information of the vehicle is randomly received, and then the real-time driving information is compared with the reference driving information contained in the reference driving track, the actual driving path of the vehicle is constructed in real time, and the actual driving path is placed in the first display area for visual display.

That is to say, in the embodiment of the present application, the real-time driving information of the vehicle is periodically received by the remote device, and the actual driving path of the vehicle is constructed on the reference driving track, and the actual driving path is placed in the first display area for visual display, so that the The user can grasp the actual driving path of the vehicle through the remote device, thereby meeting the user's usage needs in some scenarios.

In addition, in the embodiment of the present application, when receiving a display instruction for displaying the driving state information of the specified position in the actual driving route, the environmental information of the specified position can be obtained, and the environmental information can be placed in the second display area for visual display. . The above-mentioned environmental information is information collected by the vehicle at the designated position based on the sensing device, and the above-mentioned environmental information includes at least 3D view information of the surrounding environment of the vehicle at the designated position. In this way, the user can view the environmental information of the vehicle in real time through the remote device, including 3D view information of the surrounding environment of the vehicle, obstacle information, and the like. If the user can grasp this information in real time, in some remote control scenarios, it is helpful to assist the user to check whether there are obstacles around the vehicle during valet parking, or whether the surrounding environment is correct, etc. Optionally, if the user finds that there is a potential safety hazard in the current valet parking process of the vehicle, the user can control the vehicle to stop the automatic driving process through a remote device.

The following briefly introduces some application scenarios to which the technical solutions of the embodiments of the present application can be applied. It should be noted that the application scenarios introduced below are only used to illustrate the embodiments of the present application and are not limited. In the specific implementation process, the technical solutions provided by the embodiments of the present application may be flexibly applied according to actual needs.

The solutions provided by the embodiments of the present application can be applied to most valet parking scenarios, and are especially suitable for remote monitoring scenarios of valet parking.

As shown in FIG. 1 , a schematic diagram of an application scenario provided by this embodiment of the application may include an intelligent driving vehicle 101 , an environmental sensor 102 and a remote terminal 103 , wherein the intelligent driving vehicle 101 may be in an intelligent driving mode in valet parking below.

It should be noted that, what is shown in FIG. 1 is only an example. In fact, the intelligent driving vehicle 101 is any drivable vehicle with an intelligent driving mode. Referring to FIG. 2 , the intelligent driving vehicle 101 may be equipped with valet parking. The system 20, when the valet parking is started, can instruct the intelligent driving vehicle 101 to enter the valet parking. The controller 202, the high-precision positioning module 203, the associated system signal module 204, and the vehicle body control module 205, and the respective functions of each module are as follows.

The perception sensor 201 is a physical sensor used to detect and track the moving target in the parking environment where the intelligent driving vehicle 101 is located, including: any of the physical sensors related to environmental perception such as visual sensor, millimeter-wave radar, ultrasonic radar, and lidar. one or a combination.

Exemplarily, the perceptual sensor 201 may include any camera, infrared camera, video camera, digital still camera (DSC), single lens reflex camera (SLRC), etc. with image acquisition and/or video acquisition functions. A visual sensor, the visual sensor can be mounted on the outside of the compartment of the intelligent driving vehicle 101, then in the valet parking of the intelligent driving vehicle 101, based on the above-mentioned mounted visual sensor, a collection of a Image data of moving objects.

Further, the perception sensor 201 may also include a radio positioning device with functions of target detection and spatial positioning, such as millimeter-wave radar, ultrasonic radar, and lidar. For example, in this embodiment of the present application, the perception sensor 201 may further include a lidar, and the lidar may be used to reflect a laser signal to a moving target in the parking environment where the intelligent driving vehicle 101 is located, and receive a corresponding reflected signal according to the received , and analyze and obtain displacement data such as the moving speed and moving position of the moving target relative to the intelligent driving vehicle 101 .

In an optional embodiment, the perception sensor 201 may be connected to the parking controller 202 in the valet parking system 20 through a wired connection and/or a wireless connection, so that the perception sensor 201 will collect the The above-mentioned data is sent to the above-mentioned parking controller 202, and the wired connection method and/or wireless connection method includes: data line connection, cellular mobile communication connection, wireless fidelity (Wireless Fidelity, Wi-Fi) connection, etc., This application does not limit this.

The parking controller 202 is an electronic device for performing data storage and data analysis functions. The parking controller 202 can store the movement rules and movement models set corresponding to the above-mentioned parking environment. When the controller 202 receives the target displacement information related to the parking environment, it can analyze the target predicted trajectory corresponding to the moving target based on the above-mentioned stored movement rules and movement models.

Exemplarily, in the embodiment of the present application, the parking controller 202 implements the related functions of constructing and saving the reference driving trajectory mentioned in the embodiment of the present application through its internal processor. The internal processor includes a central processing unit (central processing unit). unit, CPU) or other equipment or computing unit with data processing capabilities.

In an optional embodiment, the parking controller 202 may also be connected to the high-precision positioning module 203 , the associated system signal module 204 and the associated system signal module 204 in the valet parking system 20 through a wired connection and/or a wireless connection, respectively. The body control module 205 is connected, which is not repeated here.

The high-precision positioning module 203 is an electronic device used for precise positioning of the intelligent driving vehicle 101 and the moving target in the parking environment, including: inertial navigation positioning unit RTK, inertial measurement unit IMU, global navigation satellite system (global navigation satellite system) , GNSS) and other precise positioning devices or any combination.

Exemplarily, in the embodiment of the present application, the high-precision positioning module 203 may be an inertial navigation positioning unit RTK and an inertial measurement unit IMU. In the automatic cruise or automatic parking of the intelligent driving vehicle 101, the inertial navigation positioning unit RTK and inertial measurement unit IMU can precisely locate the intelligent driving vehicle 101 and moving objects in the parking environment.

The associated system signal module 204 and the body control module 205 can be connected to electronic controls such as a control panel and in-vehicle equipment in the intelligent driving vehicle 101 . Exemplarily, in this embodiment of the present application, the associated system signal module 204 and the body control module 205 may implement user control and vehicle driving functions related to valet parking based on connected electronic controls.

Further, in the above application scenario, one or more environmental sensors 102 may also be deployed in the parking environment where the intelligent driving vehicle 101 is located, for real-time detection of the environmental road conditions in the parking environment and various moving targets existing therein. The environment sensor 102 may include: any one or a combination of electronic devices with detection and positioning functions such as a camera, an infrared camera, a video camera, a digital camera DSC, a millimeter-wave radar, an ultrasonic radar, and a lidar. There are no restrictions on the application.

In an optional embodiment, the remote terminal 103 may also acquire and store the movement rules and movement models set corresponding to the above parking environment, and use the movement rules and movement models to analyze each movement included in the environment The respective target predicted trajectories of the targets; further, the remote terminal 103 can also generate a control command consistent with the analyzed predicted target trajectory, so as to control the intelligent driving vehicle through the created information interaction when the intelligent driving vehicle 101 is in automatic driving 101 to avoid obstacles, thereby reducing the command analysis time of the valet parking system 20 and further improving the user experience.

It can be understood that, in actual situations, the above application scenarios are only examples, and the number of intelligent driving vehicles, moving targets, environmental sensors and servers that can be included in the above application scenarios can also be any specified number, which is not covered in this application. make restrictions.

Further, based on the above application scenario, an embodiment of the present application proposes a valet parking method, which can be applied to the above-mentioned intelligent driving vehicle 101 and/or the remote terminal 103, and the intelligent driving vehicle 101 is used as an example for description. Referring to Figure 3, the method specifically includes:

Step 301 : in response to receiving a start instruction for valet parking of the vehicle, obtain a reference driving trajectory of the vehicle;

Specifically, N reference coordinates of the vehicle are obtained, where the reference coordinates are position coordinates periodically collected for the driving process of the vehicle, and M sub-reference coordinates corresponding to each of the N reference coordinates are obtained, and the sub-reference coordinates are obtained. For the body contour coordinates collected periodically for the driving process of the vehicle, a reference driving trajectory of the vehicle is constructed based on the N reference coordinates and the M sub-reference coordinates corresponding to each reference coordinate.

Exemplarily, the remote device needs to form a reference driving trajectory based on N reference coordinates, where the N reference coordinates are the coordinates of the vehicle traveling, which indicates that the traveling may be (X, Y, Z)*N, which may include but not limited to The heart of the vehicle or the center of the rear axle of the vehicle. In addition, in order to improve the visualization experience, each reference coordinate can also correspond to M sub-reference coordinates, which are expressed as (X, Y, Z) * M. Generally speaking, the vehicle includes four corners, so M generally takes the value of 4.

In some embodiments, the M sub-reference coordinates corresponding to each reference coordinate can be obtained in the following manner. For example, for each reference coordinate in the N reference coordinates, the following operation is performed: determine the M sub-reference coordinates corresponding to each reference coordinate. refer to the coordinates, and determine the priority identifiers corresponding to the M sub-reference coordinates, obtain M priority identifiers, and then obtain the corresponding sub-reference coordinates of the M priority identifiers in turn based on the arrangement order of the M priority identifiers, until the acquisition M sub-reference coordinates corresponding to each reference coordinate.

Exemplarily, the remote device receives periodic signals sent in a certain order, and the periodic signals include N reference coordinates and M sub-reference coordinates corresponding to each reference coordinate, and these coordinates together constitute a reference driving track of the vehicle.

To sum up, the remote device obtains the reference driving trajectory of the vehicle synchronously through the network, and the reference driving trajectory is the memory parking route saved by the vehicle.

Step 302: After determining that the vehicle travels based on the reference driving track, periodically receive the driving information of the vehicle;

Specifically, in response to satisfying the preset time period, the relative driving position and heading angle of the vehicle are received, and the environmental information collected by the vehicle based on the sensing device is received, and then the relative driving heading angle and the environmental information are used as the driving information of the vehicle . Wherein, the above-mentioned relative driving position represents the offset between the actual driving path of the vehicle and the reference driving trajectory.

Exemplarily, first construct a virtual path picture that is exactly the same as the reference driving trajectory, and then calculate the distance traveled by the vehicle based on the real-time driving speed and driving direction of the vehicle, so as to calculate the relative position of the vehicle on the reference driving trajectory in real time, and then determine the vehicle. The relative driving position between the actual driving path and the reference driving trajectory. For the remote device, the driving information including the relative driving position can be acquired periodically.

Exemplarily, during the process of automatic driving of the vehicle based on the reference driving trajectory, the surrounding environment reference objects are detected by the configured environment sensor, the position information of the surrounding environment reference objects relative to the vehicle itself is obtained in real time, and the 3D view of the surrounding environment reference objects is obtained. information, etc. In addition, the vehicle will also send these environmental information including location information and 3D view information to remote devices in real time. For remote devices, driving information including environmental information may be acquired periodically.

Step 303: Based on the driving information of the vehicle, construct an actual driving path of the vehicle on the reference driving track, and place the actual driving path in a first display area for visual display.

Specifically, the relative driving position and heading angle of the vehicle are obtained from the driving information of the vehicle, and based on the relative driving position and heading angle, the actual driving path of the vehicle is constructed on the reference driving trajectory. Then, the actual driving path superimposed with the reference driving trajectory is placed in the first display area for visual display, and in response to the periodic and re-received driving information of the vehicle, based on the re-received driving information, The actual driving path is updated.

In addition, each time the actual driving route in the first display area is updated based on the newly received driving information, the display position of the two-dimensional icon representing the vehicle in the first display area will also be updated, and smooth movement processing will be performed. , so as to ensure that the reference driving trajectory of the vehicle in the first display area has the effect of slowly moving forward according to the user's perspective.

Exemplarily, the remote device will display the real-time position of the vehicle during the valet parking process, the vehicle is displayed in the first area represented by a two-dimensional icon, and the two-dimensional icon is determined based on various angular coordinates of the vehicle.

Further, if a display instruction for displaying the driving status information of the specified position in the actual driving path is received, then the environmental information of the specified position is obtained, and the environmental information is the information collected by the vehicle at the predetermined position based on the sensing device, and the environmental information at least includes: 3D view information of the surrounding environment of the vehicle at the designated position, and then place the environmental information in the second display area for visual display.

To sum up, the driver can use a remote device, such as a mobile phone, to control the vehicle to drive automatically based on the reference driving trajectory. During this process, the remote device can obtain the actual driving path constructed by the vehicle based on the reference driving trajectory in real time, so that the user can The device can obtain the actual position of the vehicle on the map generated based on the reference driving trajectory, the dynamic change of the actual driving path of the vehicle, and the environmental information around the vehicle in real time, including but not limited to other vehicles, traffic, intersections and other reference objects.

Further, the actual driving track of the vehicle will be displayed on the first display area as a global view, and the environmental information of the vehicle will be displayed on the second display area as a partial view. The global view is a global 2D view showing real-time position information of the vehicle at the reference driving track, and the local view is a 3D view showing a specific three-dimensional view of the vehicle at a specified position. In this embodiment of the present application, the global view and the partial view may be switched and displayed based on the switching instruction.

Based on the same inventive concept, the present application also provides a path display device for valet parking, which is used to provide real-time location information or status information for drivers or operators in real time, so as to solve the problem that existing valet parking solutions cannot provide vehicles remotely Real-time location information or status information has security risks. Periodically receive the real-time driving information of the vehicle through the remote device, and construct the actual driving path of the vehicle on the reference driving trajectory, and place the actual driving path in the first display area for visualization. Display, so that the user can grasp the actual driving path of the vehicle and the actual environment information through the remote device, so as to meet the user's usage needs in some scenarios, see Figure 4, the device includes:

The obtaining module 401, in response to receiving a start instruction for valet parking of the vehicle, obtains the reference driving track of the vehicle;

The receiving module 402, after determining that the vehicle travels based on the reference travel trajectory, periodically receives the travel information of the vehicle;

The display module 403, based on the driving information of the vehicle, constructs the actual driving path of the vehicle on the reference driving track, and places the actual driving path in the first display area for visual display; The display instruction of the driving state information of the specified position in the actual driving path; based on the display instruction, the environmental information of the specified position is acquired; wherein, the environmental information is collected by the vehicle at the specified position based on the sensing device The environmental information includes at least 3D view information of the surrounding environment of the vehicle at the designated position; the environmental information is placed in the second display area for visual display.

In some embodiments, the acquiring module 401 is specifically configured to acquire N reference coordinates of the vehicle; wherein, N is an integer greater than 1, and the reference coordinates are for The position coordinates periodically collected during the driving process of the vehicle; the M sub-reference coordinates corresponding to each of the N reference coordinates are obtained; wherein, M is an integer greater than 1, and the sub-reference coordinates are for the The body contour coordinates collected regularly during the driving process of the vehicle; based on the N reference coordinates and the M sub-reference coordinates corresponding to each of the reference coordinates, the reference driving trajectory of the vehicle is constructed.

In some embodiments, the acquiring M sub-reference coordinates corresponding to each of the N reference coordinates, the acquiring module 401 is specifically configured to: for each reference in the N reference coordinates coordinates, and perform the following operations: determine M sub-reference coordinates corresponding to each of the reference coordinates, and determine the respective priority identifiers corresponding to the M sub-reference coordinates, and obtain M priority identifiers; based on the M priority identifiers In the order of arrangement, the sub-reference coordinates corresponding to each of the M priority identifiers are sequentially acquired until the M sub-reference coordinates corresponding to each of the reference coordinates are acquired.

In some embodiments, the periodically receiving the driving information of the vehicle, the receiving module 402 is specifically configured to: in response to satisfying a preset time period, receive the relative driving position and the heading angle of the vehicle; wherein, The relative driving position represents the offset between the actual driving path of the vehicle and the reference driving trajectory; receiving the environmental information collected by the vehicle based on the sensing device; converting the relative driving position, the heading angle And the environmental information is periodically received as travel information of the vehicle.

In some embodiments, the actual driving path of the vehicle is constructed on the reference driving track based on the driving information of the vehicle, and the display module 403 is specifically configured to: obtain the driving information of the vehicle from the driving information of the vehicle. The relative driving position and heading angle of the vehicle are acquired; based on the relative driving position and the heading angle, an actual driving path of the vehicle is constructed on the reference driving track.

In some embodiments, the actual driving path is placed in the first display area for visual display, and the display module 403 is specifically configured to: place the actual driving path superimposed with the reference driving track on the display module 403 The first display area is visually displayed; in response to periodically receiving the driving information of the vehicle again, the actual driving route in the first display area is updated based on the driving information received again.

Based on the above device, the remote device can obtain the reference driving track of the vehicle, that is, the vehicle can realize automatic driving based on the reference driving track, and then the remote device periodically receives the real-time driving information of the vehicle, and then includes the real-time driving information and the reference driving track. Compared with the reference driving information of the vehicle, the actual driving path of the vehicle is constructed in real time, and the actual driving path is placed in the first display area for visual display.

Based on the same inventive concept, an embodiment of the present application also provides an electronic device, which can realize the function of the aforementioned path display device for valet parking. Referring to FIG. 5 , the electronic device includes:

At least one processor 501, and a memory 502 connected to the at least one processor 501, the specific connection medium between the processor 501 and the memory 502 is not limited in this embodiment of the present application. Take the connection through the bus 500 as an example. The bus 500 is represented by a thick line in FIG. 5 , and the connection manners between other components are only for schematic illustration and are not intended to be limiting. The bus 500 can be divided into an address bus, a data bus, a control bus, etc. For convenience of illustration, only one thick line is used in FIG. 5 , but it does not mean that there is only one bus or one type of bus. Alternatively, the processor 501 may also be called a controller, and the name is not limited.

In this embodiment of the present application, the memory 502 stores instructions that can be executed by at least one processor 501 . By executing the instructions stored in the memory 502 , the at least one processor 501 can execute the method for displaying the path of valet parking discussed above. The processor 501 can implement the functions of each module in the apparatus shown in FIG. 4 .

The processor 501 is the control center of the device/system, and can use various interfaces and lines to connect various parts of the entire control device, and by running or executing the instructions stored in the memory 502 and calling the data stored in the memory 502 , various functions and processing data of the device/system, so as to monitor the device/system as a whole.

In one possible design, the processor 501 may include one or more processing units, and the processor 501 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface and application programs etc., the modem processor mainly deals with wireless communication. It can be understood that, the above-mentioned modulation and demodulation processor may not be integrated into the processor 501 . In some embodiments, the processor 501 and the memory 502 may be implemented on the same chip, and in some embodiments, they may be implemented separately on separate chips.

The processor 501 may be a general-purpose processor, such as a central processing unit (CPU), a digital signal processor, an application specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, and may be The methods, steps, and logic block diagrams disclosed in the embodiments of the present application are realized or executed. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the path display method for valet parking disclosed in conjunction with the embodiments of the present application may be directly embodied as executed by a hardware processor, or executed by a combination of hardware and software modules in the processor.

The memory 502, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs and modules. The memory 502 may include at least one type of storage medium, for example, may include a flash memory, a hard disk, a multimedia card, a card-type memory, a random access memory (Random Access Memory, RAM), a static random access memory (Static Random Access Memory, SRAM), a Programmable Read Only Memory (PROM), Read Only Memory (ROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Magnetic Memory, Disk, CD and so on. Memory 502 is, but is not limited to, any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. The memory 502 in this embodiment of the present application may also be a circuit or any other device/system capable of implementing a storage function, for storing program instructions and/or data.

By designing and programming the processor 501, the code corresponding to the method for displaying the path of valet parking introduced in the foregoing embodiment can be solidified into the chip, so that the chip can execute the code of the embodiment shown in FIG. 4 during operation. The steps of the route display method for valet parking. How to design and program the processor 501 is known to those skilled in the art, and details are not repeated here.

Based on the same inventive concept, an embodiment of the present application further provides a storage medium, where computer instructions are stored in the storage medium, and when the computer instructions are executed on the computer, the computer executes the path display method for valet parking discussed above.

In some possible implementations, various aspects of the method for displaying a path for valet parking provided by the present application can also be implemented in the form of a program product, which includes program code, and when the program product runs on the device, the program code The control device is used to execute the steps in the path display method for valet parking according to various exemplary embodiments of the present application described above in this specification.

Those skilled in the art will appreciate that the embodiments of the present application may be provided as a method, an apparatus/system, or a computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application 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, etc.) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present application. It will be understood that each process and/or block in the flowchart illustrations and/or block diagrams, and combinations of processes and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to the processor of a general purpose computer, special purpose computer, embedded processor or other programmable data processing device to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing device produce Means for implementing the functions specified in a flow or flow of a flowchart and/or a block or blocks of a block diagram.

These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory result in an article of manufacture comprising instruction means, the instructions The apparatus implements the functions specified in the flow or flow of the flowcharts and/or the block or blocks of the block diagrams.

These computer program instructions can also be loaded on a computer or other programmable data processing device to cause a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process such that The instructions provide steps for implementing the functions specified in the flow or blocks of the flowcharts and/or the block or blocks of the block diagrams.

Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims (9)

1. A method for displaying a route for a valet parking, the method comprising:

the method comprises the steps of responding to a received starting instruction of the vehicle for passenger-riding parking, and obtaining a reference driving track of the vehicle;

periodically receiving driving information of the vehicle after determining that the vehicle drives based on the reference driving track;

constructing an actual driving path of the vehicle on the reference driving track based on the driving information of the vehicle, and placing the actual driving path in a first display area for visual display;

receiving a display instruction for displaying the running state information of a specified position in the actual running path;

acquiring environmental information of the specified position based on the display instruction; the environment information is information collected by the vehicle at the specified position based on a sensing device, and the environment information at least comprises 3D view information of the surrounding environment of the vehicle at the specified position; and placing the environment information in a second display area for visual display.

2. The method of claim 1, wherein the obtaining a reference trajectory for the vehicle comprises:

acquiring N reference coordinates of a vehicle; wherein N is an integer greater than 1, and the reference coordinate is a position coordinate periodically acquired aiming at the running process of the vehicle;

acquiring M sub-reference coordinates corresponding to each reference coordinate in the N reference coordinates; wherein M is an integer greater than 1, and the sub-reference coordinates are vehicle body contour coordinates periodically acquired in the driving process of the vehicle;

and constructing a reference driving track of the vehicle based on the N reference coordinates and the M sub-reference coordinates corresponding to each reference coordinate.

3. The method of claim 2, wherein the obtaining M sub-reference coordinates corresponding to each of the N reference coordinates comprises:

for each of the N reference coordinates, performing the following operations:

determining M sub-reference coordinates corresponding to each reference coordinate, and determining priority identifications corresponding to the M sub-reference coordinates respectively to obtain M priority identifications;

and sequentially acquiring sub-reference coordinates corresponding to the M priority identifiers based on the arrangement order of the M priority identifiers until M sub-reference coordinates corresponding to each reference coordinate are acquired.

4. The method of claim 1, wherein the periodically receiving travel information for the vehicle comprises:

in response to meeting a preset time period, receiving a relative driving position and a course angle of the vehicle; wherein the relative driving position represents an offset between the actual driving path of the vehicle compared to the reference driving track;

receiving environmental information collected by the vehicle based on sensing equipment;

and taking the relative driving position, the course angle and the environment information as the driving information of the vehicle which is received periodically.

5. The method of claim 1, wherein the constructing an actual travel path of the vehicle on the reference trajectory based on the travel information of the vehicle comprises:

acquiring a relative driving position and a course angle of the vehicle from the driving information of the vehicle;

and constructing an actual running path of the vehicle on the reference running track based on the relative running position and the heading angle.

6. The method of claim 1, wherein visually displaying the actual travel path in a first display area comprises:

placing the actual driving path superposed with the reference driving track in a first display area for visual display;

in response to a periodic re-reception of the travel information of the vehicle, updating the actual travel path in the first display area based on the re-received travel information.

7. A path display device for a valet parking, the device comprising:

the acquisition module is used for responding to a received starting instruction of the vehicle for the passenger to park and acquiring a reference driving track of the vehicle;

a receiving module that periodically receives travel information of the vehicle after determining that the vehicle travels based on the reference trajectory;

the display module is used for constructing an actual driving path of the vehicle on the reference driving track based on the driving information of the vehicle and placing the actual driving path in a first display area for visual display; receiving a display instruction for displaying the running state information of a specified position in the actual running path; acquiring environmental information of the specified position based on the display instruction; the environment information is information collected by the vehicle at the specified position based on a sensing device, and the environment information at least comprises 3D view information of the surrounding environment of the vehicle at the specified position; and placing the environment information in a second display area for visual display.

8. An electronic device, comprising:

a memory for storing a computer program;

a processor for implementing the method steps of any one of claims 1-6 when executing the computer program stored on the memory.

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

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