CN115817459B

CN115817459B - Vehicle control method, apparatus, electronic device, and computer-readable medium

Info

Publication number: CN115817459B
Application number: CN202310155185.2A
Authority: CN
Inventors: 毛成成
Original assignee: HoloMatic Technology Beijing Co Ltd
Current assignee: Heduo Technology Guangzhou Co ltd
Priority date: 2023-02-23
Filing date: 2023-02-23
Publication date: 2023-05-26
Anticipated expiration: 2043-02-23
Also published as: CN115817459A

Abstract

Embodiments of the present disclosure disclose a vehicle control method, apparatus, device, and readable medium. One embodiment of the method comprises the following steps: determining position information of a target vehicle of a target user; determining the speed of the target vehicle in response to determining that the position information does not meet the exclusive parking space condition and the position information meets the exclusive parking space area condition; determining whether the exclusive parking space information of the corresponding target user is matched with the environment information of the target vehicle or not in response to determining that the vehicle speed is smaller than a preset threshold; responsive to determining that the proprietary parking space information of the corresponding target user matches the environmental information of the target vehicle, displaying proprietary parking space parking prompt information and proprietary parking space parking selection controls on the associated display device; and in response to detection of the selection operation acting on the proprietary parking space parking selection control, controlling the target vehicle to park into the proprietary parking space corresponding to the proprietary parking space information according to the proprietary parking space information. According to the embodiment, the waste of computing resources is reduced, and the driving safety is improved.

Description

Vehicle control method, apparatus, electronic device, and computer-readable medium

Technical Field

Embodiments of the present disclosure relate to the field of computer technology, and in particular, to a vehicle control method, apparatus, electronic device, and computer readable medium.

Background

In an automatic parking scene, vehicle control occupies an important role, at present, when a vehicle is controlled to park, the parking intention of a user is judged mainly through detecting the vehicle speed, and when the vehicle speed is detected to be lower, available parking spaces near the vehicle are identified and interactive prompt information is sent to the user.

However, the inventors found that when the vehicle control is performed in the above manner, there are often the following technical problems:

firstly, only through detecting the speed of a vehicle, judge that the parking intention of user is comparatively single, lead to frequently discernment parking stall and interactive suggestion under scene such as traffic jam scene, red light wait to cause the waste of computational resource, frequent interactive suggestion leads to the travelling security relatively poor moreover.

Secondly, a large amount of memory and time of the system are occupied when parking space identification is carried out, information fed back to a user is delayed, and accordingly parking time is long.

The above information disclosed in this background section is only for enhancement of understanding of the background of the inventive concept and, therefore, may contain information that does not form the prior art that is already known to those of ordinary skill in the art in this country.

Disclosure of Invention

The disclosure is in part intended to introduce concepts in a simplified form that are further described below in the detailed description. The disclosure is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.

Some embodiments of the present disclosure propose a vehicle control method, apparatus, electronic device, and computer-readable medium to solve one or more of the technical problems mentioned in the background section above.

In a first aspect, some embodiments of the present disclosure provide a vehicle control method, the method comprising: determining position information of a target vehicle of a target user; determining the speed of the target vehicle in response to determining that the position information does not meet the exclusive parking space condition and the position information meets the exclusive parking space area condition; determining whether the exclusive parking space information corresponding to the target user is matched with the environment information of the target vehicle or not in response to the fact that the vehicle speed is smaller than a preset threshold; in response to determining that the exclusive parking space information corresponding to the target user is matched with the environment information of the target vehicle, displaying exclusive parking space parking prompt information and an exclusive parking space parking selection control on the associated display equipment; and responding to the detection of the selection operation acting on the exclusive parking space parking selection control, and controlling the target vehicle to park into the exclusive parking space corresponding to the exclusive parking space information according to the exclusive parking space information.

In a second aspect, some embodiments of the present disclosure provide a vehicle control apparatus, the apparatus comprising: a first determination unit that determines position information of a target vehicle of a target user; a second determining unit configured to determine a speed of the target vehicle in response to determining that the position information does not satisfy the exclusive parking space condition and the position information satisfies the exclusive parking space region condition; a third determining unit, configured to determine whether the dedicated parking space information corresponding to the target user matches with the environmental information of the target vehicle in response to determining that the vehicle speed is less than a preset threshold; the display unit is used for displaying the exclusive parking prompt information and the exclusive parking selection control on the associated display equipment in response to the fact that the exclusive parking information corresponding to the target user is matched with the environment information of the target vehicle; and the control unit is used for controlling the target vehicle to park into the exclusive parking space corresponding to the exclusive parking space information according to the exclusive parking space information in response to the detection of the selection operation acting on the exclusive parking space parking selection control.

In a third aspect, some embodiments of the present disclosure provide an electronic device comprising: one or more processors; a storage device having one or more programs stored thereon, which when executed by one or more processors causes the one or more processors to implement the method described in any of the implementations of the first aspect above.

In a fourth aspect, some embodiments of the present disclosure provide a computer readable medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the method described in any of the implementations of the first aspect above.

The above embodiments of the present disclosure have the following advantageous effects: by the vehicle control method of some embodiments of the present disclosure, the waste of computing resources is reduced, and the driving safety is improved. Specifically, the reasons for the waste of computing resources and the poor driving safety are as follows: only through detecting the speed of a motor vehicle, judge that user's intention of parking is comparatively single, lead to frequently discernment parking stall and interactive suggestion under scene such as traffic jam scene, red light wait to cause the waste of computational resource, frequent interactive suggestion leads to the security of traveling relatively poor moreover. Based on this, the vehicle control method of some embodiments of the present disclosure first determines the position information of the target vehicle of the target user. Thus, the real-time position of the target vehicle can be determined, and the real-time position of the target vehicle can be used for acquiring the distance between the target vehicle and the target user-specific parking space. And then, determining the speed of the target vehicle in response to determining that the position information does not meet the special parking space condition and the position information meets the special parking space area condition. The special parking space condition is that the target vehicle is located at the special parking space position. Based on the above, after determining that the position of the target vehicle is within the preset range of the exclusive parking space and is not at the position of the exclusive parking space, the real-time speed of the target vehicle is obtained, and whether the condition of parking in the exclusive parking space is met is judged by the real-time speed of the target vehicle. And then, in response to determining that the vehicle speed is smaller than a preset threshold value, determining whether the exclusive parking space information corresponding to the target user is matched with the environment information of the target vehicle. Thus, the environmental image of the target vehicle can be acquired as the environmental information of the target vehicle. Therefore, whether the exclusive parking space information corresponding to the target user is matched with the environment information of the target vehicle can be determined. And then, in response to determining that the exclusive parking space information corresponding to the target user is matched with the environment information of the target vehicle, displaying the exclusive parking space parking prompt information and the exclusive parking space parking selection control on the associated display equipment. Therefore, the target user can select to park in the special parking space on the special parking space parking selection control. And finally, responding to the detection of the selection operation acting on the exclusive parking space parking selection control, and controlling the target vehicle to park into the exclusive parking space corresponding to the exclusive parking space information according to the exclusive parking space information. Therefore, after the selection operation acting on the exclusive parking space parking selection control is detected, the target vehicle is controlled to park in the exclusive parking space corresponding to the exclusive parking space information according to the exclusive parking space information. The parking function of the exclusive parking space can be achieved, the speed of the target vehicle can be detected after the target vehicle is determined to meet the condition of the exclusive parking space area, and after the speed of the target vehicle is determined to meet the parking condition and the exclusive parking space information of the target user is successfully matched with the environment information of the target vehicle, the target user is prompted to park the exclusive parking space. Frequent parking space recognition and interaction prompt in traffic jam scenes, red light waiting scenes and the like are reduced, so that the waste of computing resources is reduced, and the driving safety is improved.

Drawings

The above and other features, advantages, and aspects of embodiments of the present disclosure will become more apparent by reference to the following detailed description when taken in conjunction with the accompanying drawings. The same or similar reference numbers will be used throughout the drawings to refer to the same or like elements. It should be understood that the figures are schematic and that elements and components are not necessarily drawn to scale.

FIG. 1 is a flow chart of some embodiments of a vehicle control method according to the present disclosure;

FIG. 2 is a schematic structural view of some embodiments of a vehicle control device according to the present disclosure;

fig. 3 is a schematic structural diagram of an electronic device suitable for use in implementing some embodiments of the present disclosure.

Detailed Description

Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete. It should be understood that the drawings and embodiments of the present disclosure are for illustration purposes only and are not intended to limit the scope of the present disclosure.

It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings. Embodiments of the present disclosure and features of embodiments may be combined with each other without conflict.

It should be noted that the terms "first," "second," and the like in this disclosure are merely used to distinguish between different devices, modules, or units and are not used to define an order or interdependence of functions performed by the devices, modules, or units.

It should be noted that references to "one", "a plurality" and "a plurality" in this disclosure are intended to be illustrative rather than limiting, and those of ordinary skill in the art will appreciate that "one or more" is intended to be understood as "one or more" unless the context clearly indicates otherwise.

The names of messages or information interacted between the various devices in the embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.

The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Fig. 1 illustrates a flow 100 of some embodiments of a vehicle control method according to the present disclosure. The vehicle control method includes the steps of:

Step 101, determining location information of a target vehicle of a target user.

In some embodiments, an executing subject (e.g., computing device) of the vehicle control method may determine location information of a target vehicle of a target user. The location information may be real-time location information. The target user may represent a user using a dedicated parking space parking function. The target vehicle may represent a vehicle owned by the target user. In practice, the executing body may acquire real-time position information of the target vehicle of the target user through a GPS positioning device.

And step 102, determining the speed of the target vehicle in response to determining that the position information does not meet the special parking space condition and the position information meets the special parking space area condition.

In some embodiments, the executing entity may determine the speed of the target vehicle in response to determining that the location information does not satisfy the exclusive parking space condition and the location information satisfies the exclusive parking space region condition. The dedicated parking space can be a fixed parking space of the target user. The dedicated parking space condition may be that the position information of the target vehicle is consistent with the dedicated parking space position information. The position information of the exclusive parking space can represent the position information of the exclusive parking space. The condition of the dedicated parking space area may be that the target vehicle is located in a circular area with a center of the dedicated parking space as a center and a preset length as a radius. For example, the predetermined length may be 5 meters. In practice, the executing body can determine the speed of the target vehicle through radar speed measurement, coil speed measurement, video speed measurement, microwave radar speed measurement or sonic speed measurement and other modes.

And step 103, determining whether the exclusive parking space information of the corresponding target user is matched with the environment information of the target vehicle or not in response to determining that the vehicle speed is smaller than a preset threshold.

In some embodiments, the executing entity may determine whether the specific parking space information corresponding to the target user matches the environmental information of the target vehicle in response to determining that the vehicle speed is less than a preset threshold. For example, the preset threshold may be 30 km/h. Here, the specific setting of the above-described preset threshold is not limited. The special parking space information can represent characteristic information of the special parking space. The dedicated parking space information may include an image feature information set of the dedicated parking space. The image feature information set of the exclusive parking space can represent a set of feature point information which is extracted from an environment image of the exclusive parking space and can identify the environment image. The environmental image of the exclusive parking space can be a photo of the exclusive parking space obtained through shooting.

In some optional implementations of some embodiments, the executing entity may determine whether the specific parking space information corresponding to the target user matches the environmental information of the target vehicle by:

Firstly, reading an image characteristic information set of the exclusive parking space corresponding to the target user. The image feature information set corresponds to a parking space image set of the exclusive parking space. The image characteristic information contained in the image characteristic information set corresponds to the parking space images contained in the parking space image set of the exclusive parking space one by one. The parking space image set may represent a photo set of the exclusive parking space. For example, the photo collection may be a photo collection taken in chronological order and at different angles.

And secondly, acquiring an environment image of the target vehicle as environment information through a camera. In practice, the executing body may capture the environmental image of the target vehicle in real time through a strobe camera. For example, an environmental image in front of the head of the target vehicle is taken.

And thirdly, extracting environment characteristic information from the environment information of the target vehicle. The environmental characteristic information may represent characteristic information extracted from an environmental image in which the target vehicle is located. The specific extraction manner of the environmental feature information of the environmental information of the target vehicle may refer to the manner of extracting the feature of each target environmental information in the target environmental information sequence, which is not described herein again.

Fourth, determining whether any image characteristic information in the image characteristic information set is matched with the environment characteristic information.

In some optional implementations of some embodiments, the image feature information set of the dedicated parking space is generated by:

and a first generation step, in response to detecting the selection operation of the target user on the exclusive parking space learning setting control, displaying parking prompt information in the associated display equipment. The dedicated parking space learning setting control may be a control for performing dedicated parking space learning, which is displayed in the display device and selected by the target user. The parking prompt information may be information for prompting that the target user can currently park in the dedicated parking space. The display device may be a display screen of a center console connected by wire or wirelessly. In practice, the executing body may display the parking prompt information in the form of a pop-up window in the associated display device.

And a second generation step of determining the acquired environmental information sequence of the target vehicle as a target environmental information sequence in response to detecting that the parking of the target vehicle is completed. The apparatus for acquiring the above-mentioned environmental information sequence may be a strobe image capturing apparatus. The environmental information sequence may be a sequence of images of an environment in which the target vehicle is located, taken in chronological order.

And a third generation step, extracting the characteristics of each piece of target environment information in the target environment information sequence to obtain a target environment characteristic information set serving as the image characteristic information set of the exclusive parking space. In practice, for each target environment information in the target environment information sequence, the execution subject may execute the following steps:

first, extracting a key point information set from the target environment information. In practice, the execution subject may extract the set of key point information from the target environment information by:

and a first sub-step of generating a gray scale map corresponding to the target environment image information through the target environment image information included in the target environment information. The gray scale map may be an image represented by gray scale values. In practice, the executing body may generate the gray-scale map corresponding to the target environment image by removing the hue and saturation of the target environment image. The target environment image may be an environment image corresponding to target environment image information included in the target environment information. And a second sub-step of selecting each candidate point meeting the preset candidate condition in the gray level diagram as a candidate point set. The preset candidate condition may be that the candidate point is an extreme point in a preset spatial range. The above extreme point may be a point where the pixel value is a maximum value within a preset spatial range. In practice, for each pixel in the gray scale map, the execution body may first compare the gray scale value of the pixel with the gray scale value of the pixel adjacent to the pixel in the preset spatial range. Then, a pixel point having the largest gray value may be selected as a candidate point within the above-described preset spatial range. Finally, the set of selected individual candidate points may be determined as a set of candidate points. The preset spatial range may be a discretized circular outline range with 3 as a radius.

And a third sub-step of generating a target key point set to be a key point information set through the candidate point set. In practice, for each candidate point in the candidate point set, the execution body may first select a neighborhood range corresponding to the candidate point. It is then determined whether other candidate points exist within the neighborhood. And if no other candidate points exist in the neighborhood, determining the candidate points as target key points. If other candidate points exist in the neighborhood, the following steps are executed:

first, determining the scores of all candidate points in the neighborhood. The score of the candidate point may be generated by a difference between 16 neighboring pixel points of the candidate point and the candidate point.

And secondly, selecting one candidate point with the highest score from all candidate points in the neighborhood as a target key point.

And then, taking the obtained set formed by the key point information of each target key point as the key point information set.

And secondly, generating a description information set serving as a target environment characteristic information set through the key point information set, wherein key point information in the key point information set corresponds to the description information in the description information set. In practice, for each key point information in the key point information set, the execution body may execute the following steps:

And a first sub-step, selecting a preset number of pixel point pairs within a preset range where the key point corresponding to the key point information is located. Wherein the preset range can be one centered on the key point

Square pixel dot range of size. Above->

May be square with S as a side length. For example, S may be 10. In practice, the execution body may randomly select a preset number of pixel pairs within the preset range. The predetermined value may be 128, 256 or 512.

And a second sub-step of generating a description vector corresponding to the key point information as description information of the key point information according to the preset number of pixel point pairs. In practice, the execution body may generate a binary string by comparing the gray value of each pair of pixels in the preset number of pixels, and then vectorize the binary string to obtain a description vector as description information of the key point information.

The related content of the technical scheme is taken as an invention point of the embodiment of the disclosure, and the technical problem mentioned in the background art is solved, namely, the system occupies a large amount of memory and time when parking space identification is performed, so that information fed back to a user is delayed, and the parking time is long. Factors that lead to longer parking times tend to be as follows: when the parking space identification is carried out, a large amount of memory and time are occupied in the system, so that information fed back to a user is delayed. If the above factors are solved, the effect of reducing the time-consuming parking can be achieved. In order to achieve the effect, the method for quickly extracting the description information of the image feature points is introduced to improve the speed of parking space identification. When the image is subjected to feature extraction and feature matching, the number of feature points is often thousands, the description vectors corresponding to the feature points occupy huge memory, and the time required for image feature point matching is long. Under the background of the requirement of matching the exclusive parking space image and the vehicle environment image in real time, the characteristic extraction and the characteristic matching are required to be performed rapidly. The technical scheme provides a method for directly generating the binary character string as the feature description vector, so that the speed of establishing the feature description information is increased, the time of memory occupation and feature matching of the feature description information is reduced to a great extent, the speed of information fed back to a user can be increased, and the parking time is reduced.

In some optional implementations of some embodiments, the executing entity may determine whether any image feature information in the image feature information set matches the environmental feature information by:

first, for each image feature information in the image feature information set, determining distance information between the environmental feature information and the image feature information. In practice, first, for each environmental key point information included in the environmental feature information, the execution subject may determine a hamming distance between the description information corresponding to the environmental key point information and the description information corresponding to each image key point information included in the image feature information, so as to obtain each hamming distance. Then, the environmental key point information and the image feature point information corresponding to the hamming distances satisfying the shortest distance condition among the hamming distances can be used as the key point information pair successfully matched. And then, the Hamming distance between the key point information pairs successfully matched can be determined as the distance information between the environment characteristic information and the image characteristic information.

And a second step of determining whether any one of the image feature information in the image feature information set is matched with the environment feature information according to the obtained distance information. In practice, the executing body may determine that image feature information corresponding to the distance information in the image feature information set matches the environmental feature information in response to determining that the respective distance information exists with distance information smaller than a preset distance threshold. The preset distance threshold may represent a maximum value of distance information of successfully matching the environmental feature information and the image feature information. If the distance information between the environment feature information and the image feature information is larger than the preset distance threshold, the matching can be indicated to be unsuccessful, and if the distance information between the environment feature information and the image feature information is smaller than or equal to the preset distance threshold, the matching can be indicated to be successful. Here, the specific setting of the preset distance threshold is not limited.

And step 104, in response to determining that the exclusive parking space information of the corresponding target user is matched with the environment information of the target vehicle, displaying the exclusive parking space parking prompt information and the exclusive parking space parking selection control on the associated display equipment.

In some embodiments, the executing entity may display, on an associated display device, the dedicated parking hint information and the dedicated parking selection control in response to determining that the dedicated parking information corresponding to the target user matches the environmental information of the target vehicle. The special parking prompt information may be information for reminding the target user to activate the special parking function. The dedicated parking space parking selection control may be a control that is selected by the target user to whether to open the dedicated parking space parking function. The display device may be a display device connected by wire or wirelessly. In practice, the execution body can display the exclusive parking space parking prompt information and the exclusive parking space parking selection control on the associated vehicle-mounted display device through popup windows.

Step 105, in response to detecting the selection operation acting on the dedicated parking space parking selection control, controlling the target vehicle to park into the dedicated parking space corresponding to the dedicated parking space information according to the dedicated parking space information.

In some embodiments, the executing body may control the target vehicle to park into the exclusive parking space corresponding to the exclusive parking space information according to the exclusive parking space information in response to detecting the selection operation acting on the exclusive parking space parking selection control. Wherein, the exclusive parking space information comprises exclusive parking space position information. The position information of the exclusive parking space can represent the position of the exclusive parking space. In practice, first, the executing body may prompt the target user to leave the vehicle and enter the parking stand-by state through voice. And then, in response to detecting the allowable parking operation of the target user, planning a path for the target vehicle to park in the exclusive parking space according to the exclusive parking space position information contained in the exclusive parking space information and a path planning algorithm. Wherein, the path planning algorithm can be that

Algorithms, artificial potential field algorithms, etc. And then, controlling the target vehicle to park in the special parking space corresponding to the special parking space position information according to the planned path. The parking allowing operation can be to click a key button, click a mobile phone APP control, complete specified actions before a target vehicle, and the like. And finally, feeding back parking success information to the mobile phone of the target user through a short message or a mobile phone APP, and controlling the target vehicle to enter a dormant state after waiting for a preset time. The preset time may be 3 minutes. Here, the specific setting of the above-described preset time is not limited.

Optionally, after step 105, the executing body may first determine whether the dedicated parking space reservation information of the target user exists in response to determining that the location information satisfies the dedicated parking space condition. The special parking reservation information can represent the special parking information reserved by the target user on the mobile phone APP. The dedicated parking space parking reservation information may include a parking direction of the target vehicle. Then, in response to determining that the exclusive parking space reservation information of the target user exists, whether the user position information of the target user meets the exclusive parking space area condition is determined. In practice, the executing body may detect the location of the mobile phone or the car key of the target user through bluetooth as the user location information of the target user. The user location information may characterize a location of the target user. And then, in response to determining that the user position information meets the special parking space area condition, controlling the target vehicle to park out of the special parking space. In practice, the executing body may control the target vehicle to park the exclusive parking space according to the parking direction of the target vehicle included in the exclusive parking space parking reservation information. Thus, the berthing requirement of the target user can be met.

With further reference to fig. 2, as an implementation of the method shown in the above figures, the present disclosure provides embodiments of a vehicle control apparatus, which apparatus embodiments correspond to those shown in fig. 1, and which apparatus is particularly applicable in various electronic devices.

As shown in fig. 2, the vehicle control apparatus 200 of some embodiments includes: a first determination unit 201, a second determination unit 202, a third determination unit 203, a display unit 204, and a control unit 205. Wherein the first determining unit 201 is configured to determine position information of a target vehicle of a target user; the second determining unit 202 is configured to determine a speed of the target vehicle in response to determining that the position information does not satisfy the exclusive parking space condition and the position information satisfies the exclusive parking space region condition; the third determining unit 203 is configured to determine whether the dedicated parking space information corresponding to the target user matches with the environmental information of the target vehicle in response to determining that the vehicle speed is less than a preset threshold; the display unit 204 is configured to display, on the associated display device, the dedicated parking prompt information and the dedicated parking selection control in response to determining that the dedicated parking information corresponding to the target user matches the environmental information of the target vehicle; the control unit 205 is configured to control the target vehicle to park into the exclusive parking space corresponding to the exclusive parking space information according to the exclusive parking space information in response to detecting the selection operation acting on the exclusive parking space parking selection control.

It will be appreciated that the elements described in the vehicle control apparatus 200 correspond to the respective steps in the method described with reference to fig. 1. Thus, the operations, features and resulting benefits described above for the method are equally applicable to the apparatus 200 and the units contained therein, and are not described in detail herein.

Referring now to FIG. 3, a schematic diagram of an electronic device (e.g., computing device) 300 suitable for use in implementing some embodiments of the present disclosure is shown. The electronic device shown in fig. 3 is merely an example and should not impose any limitations on the functionality and scope of use of embodiments of the present disclosure.

As shown in fig. 3, the electronic device 300 may include a processing means (e.g., a central processing unit, a graphics processor, etc.) 301 that may perform various suitable actions and processes in accordance with a program stored in a Read Only Memory (ROM) 302 or a program loaded from a storage means 308 into a Random Access Memory (RAM) 303. In the RAM 303, various programs and data required for the operation of the electronic apparatus 300 are also stored. The processing device 301, the ROM 302, and the RAM 303 are connected to each other via a bus 304. An input/output (I/O) interface 305 is also connected to bus 304.

In general, the following devices may be connected to the I/O interface 305: input devices 306 including, for example, a touch screen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; an output device 307 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 308 including, for example, magnetic tape, hard disk, etc.; and communication means 309. The communication means 309 may allow the electronic device 300 to communicate with other devices wirelessly or by wire to exchange data. While fig. 3 shows an electronic device 300 having various means, it is to be understood that not all of the illustrated means are required to be implemented or provided. More or fewer devices may be implemented or provided instead. Each block shown in fig. 3 may represent one device or a plurality of devices as needed.

In particular, according to some embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, some embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flow chart. In such embodiments, the computer program may be downloaded and installed from a network via communications device 309, or from storage device 308, or from ROM 302. The above-described functions defined in the methods of some embodiments of the present disclosure are performed when the computer program is executed by the processing means 301.

It should be noted that, the computer readable medium described in some embodiments of the present disclosure may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In some embodiments of the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In some embodiments of the present disclosure, however, the computer-readable signal medium may comprise a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.

In some implementations, the clients, servers may communicate using any currently known or future developed network protocol, such as HTTP (HyperText Transfer Protocol ), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the internet (e.g., the internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed networks.

The computer readable medium may be contained in the electronic device; or may exist alone without being incorporated into the electronic device. The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: determining position information of a target vehicle of a target user; determining the speed of the target vehicle in response to determining that the position information does not meet the exclusive parking space condition and the position information meets the exclusive parking space area condition; determining whether the exclusive parking space information corresponding to the target user is matched with the environment information of the target vehicle or not in response to the fact that the vehicle speed is smaller than a preset threshold; in response to determining that the exclusive parking space information corresponding to the target user is matched with the environment information of the target vehicle, displaying exclusive parking space parking prompt information and an exclusive parking space parking selection control on the associated display equipment; and responding to the detection of the selection operation acting on the exclusive parking space parking selection control, and controlling the target vehicle to park into the exclusive parking space corresponding to the exclusive parking space information according to the exclusive parking space information.

Computer program code for carrying out operations for some embodiments of the present disclosure may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units described in some embodiments of the present disclosure may be implemented by means of software, or may be implemented by means of hardware. The described units may also be provided in a processor, for example, described as: a processor includes a first determination unit, a second determination unit, a third determination unit, a display unit, and a control unit. The names of these units do not constitute a limitation of the unit itself in some cases, and the first determination unit may also be described as "a location information unit that determines a target vehicle of a target user", for example.

The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a Complex Programmable Logic Device (CPLD), and the like.

The foregoing description is only of the preferred embodiments of the present disclosure and description of the principles of the technology being employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combination of the above technical features, but encompasses other technical features formed by any combination of the above technical features or their equivalents without departing from the spirit of the invention. Such as the above-described features, are mutually substituted with (but not limited to) the features having similar functions disclosed in the embodiments of the present disclosure.

Claims

1. A vehicle control method comprising:

determining position information of a target vehicle of a target user;

determining the speed of the target vehicle in response to determining that the position information does not meet an exclusive parking space condition and the position information meets an exclusive parking space area condition, wherein the exclusive parking space is a fixed parking space of the target user, and the exclusive parking space area condition is that the target vehicle is in a circular area taking the center of the exclusive parking space as the center of a circle and taking a preset length as a radius;

determining whether the exclusive parking space information corresponding to the target user matches with the environmental information of the target vehicle in response to determining that the vehicle speed is less than a preset threshold, wherein the exclusive parking space information comprises an image feature information set of the exclusive parking space, and determining whether the exclusive parking space information corresponding to the target user matches with the environmental information of the target vehicle in response to determining that the vehicle speed is less than the preset threshold comprises:

reading an image feature information set of an exclusive parking space corresponding to the target user, wherein the image feature information set corresponds to a parking space image set of the exclusive parking space, and the image feature information set of the exclusive parking space is generated through the following steps:

Responsive to detecting a selection operation of the target user on the dedicated parking space learning setting control, displaying a parking prompt message in an associated display device;

in response to detecting the end of parking of the target vehicle, determining the collected sequence of environmental information of the target vehicle as a sequence of target environmental information;

performing feature extraction on each piece of target environmental information in the target environmental information sequence to obtain a target environmental feature information set as an image feature information set of the exclusive parking space, wherein the performing feature extraction on each piece of target environmental information in the target environmental information sequence comprises:

for each target environmental information in the sequence of target environmental information, performing the steps of:

extracting a set of key point information from the target environment information, wherein the target environment information in the target environment information sequence comprises target environment image information, and the extracting the set of key point information from the target environment information comprises:

generating a gray scale map of the target environment image information through the target environment image information included in the target environment information;

selecting each candidate point meeting a preset candidate condition in the gray level map as a candidate point set, wherein the preset candidate condition is that the candidate point is an extreme point in a preset space range;

Generating a target key point set to be used as a key point information set through the candidate point set;

generating a description information set as a target environment characteristic information set through the key point information set, wherein key point information in the key point information set corresponds to description information in the description information set, and generating the description information set as the target environment characteristic information set through the key point information set comprises the following steps:

for each key point information in the key point information set, executing the following steps:

selecting a preset number of pixel point pairs in a preset range where the key points corresponding to the key point information are located;

generating a description vector corresponding to the key point information as description information of the key point information according to the preset number of pixel point pairs;

acquiring an environment image of the target vehicle as environment information through a camera;

extracting environmental characteristic information from the environmental information of the target vehicle;

determining whether any one of the image feature information in the image feature information set is matched with the environment feature information;

responsive to determining that the proprietary parking space information corresponding to the target user matches the environmental information of the target vehicle, displaying proprietary parking space parking prompt information and proprietary parking space parking selection controls on associated display devices;

And responding to the detection of the selection operation acting on the exclusive parking space parking selection control, and controlling the target vehicle to park into the exclusive parking space corresponding to the exclusive parking space information according to the exclusive parking space information.

2. The method of claim 1, wherein the method further comprises:

determining whether the exclusive parking space reservation information of the target user exists or not in response to determining that the position information meets the exclusive parking space condition;

determining whether user position information of the target user meets the condition of the exclusive parking space area or not in response to determining that the exclusive parking space reservation information of the target user exists;

and controlling the target vehicle to park out of the exclusive parking space in response to determining that the user position information meets the exclusive parking space area condition.

3. The method of claim 2, wherein the proprietary carport information comprises proprietary carport location information; and

the method for controlling the target vehicle to park into the exclusive parking space corresponding to the exclusive parking space information comprises the following steps of:

and controlling the target vehicle to park in the exclusive parking space corresponding to the position information of the exclusive parking space according to the position information of the exclusive parking space.

4. A method according to claim 3, wherein said determining whether any of the image feature information in the set of image feature information matches the environmental feature information comprises:

for each image feature information in the image feature information set, determining distance information between the environment feature information and the image feature information;

and determining whether any one image characteristic information in the image characteristic information set is matched with the environment characteristic information or not according to the obtained distance information.

5. A vehicle control apparatus comprising:

a first determination unit that determines position information of a target vehicle of a target user;

the second determining unit is used for determining the speed of the target vehicle in response to the fact that the position information does not meet the special parking space condition and meets the special parking space area condition, wherein the special parking space is a fixed parking space of the target user, and the special parking space area condition is that the target vehicle is located in a circular area taking the center of the special parking space as the center of a circle and taking the preset length as the radius;

a third determining unit, in response to determining that the vehicle speed is less than a preset threshold, determining whether proprietary parking space information corresponding to the target user matches environmental information of the target vehicle, where the proprietary parking space information includes an image feature information set of the proprietary parking space, and in response to determining that the vehicle speed is less than the preset threshold, determining whether proprietary parking space information corresponding to the target user matches environmental information of the target vehicle, including:

the display unit is used for displaying the exclusive parking prompt information and the exclusive parking selection control on the associated display equipment in response to the fact that the exclusive parking information corresponding to the target user is matched with the environment information of the target vehicle;

and the control unit is used for controlling the target vehicle to park into the exclusive parking space corresponding to the exclusive parking space information according to the exclusive parking space information in response to the detection of the selection operation acting on the exclusive parking space parking selection control.

6. An electronic device, comprising:

one or more processors;

a storage means for storing one or more programs;

when executed by the one or more processors, causes the one or more processors to implement the method of any of claims 1-4.

7. A computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the method of any of claims 1-4.