CN116206482B - Parking space release method, electronic equipment and storage medium - Google Patents

Parking space release method, electronic equipment and storage medium Download PDF

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Publication number
CN116206482B
CN116206482B CN202310219319.2A CN202310219319A CN116206482B CN 116206482 B CN116206482 B CN 116206482B CN 202310219319 A CN202310219319 A CN 202310219319A CN 116206482 B CN116206482 B CN 116206482B
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Prior art keywords
parking space
parking
vehicle
released
space
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CN116206482A (en
Inventor
杨艳艳
许林
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Chongqing Seres New Energy Automobile Design Institute Co Ltd
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Chongqing Seres New Energy Automobile Design Institute Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Acoustics & Sound (AREA)
  • Traffic Control Systems (AREA)

Abstract

The application provides a parking space release method, electronic equipment and a storage medium, wherein the method comprises the following steps: determining the end position in a preset navigation route according to the preset navigation route; determining a parking range according to the end position; under the condition that a vehicle enters the parking range, a first parking space is identified based on an on-vehicle sensor on the vehicle, and the first parking space is released; the first parking spaces are other types of parking spaces except the I-type vertical parking spaces. According to the application, the problems of frequent release of the parking spaces and false release aiming at the parking spaces of different types can be solved, the false release aiming at the parking spaces of different types is reduced, and the user experience is improved.

Description

Parking space release method, electronic equipment and storage medium
Technical Field
The application relates to the technical field of auxiliary driving, in particular to a parking space release method, electronic equipment and a storage medium.
Background
At present, a space parking space and a horizontal parking space can be identified through a camera and an ultrasonic radar. Aiming at the release of various line-drawing carport, the carport is mainly identified and released through visual perception and deep learning domestication.
However, the front-end requirement for identifying and releasing a parking space is to identify the two corner points of the parking space closest to the own vehicle. At present, an I-type vertical parking space without a corner point exists, so that the problem that the I-type vertical parking space is released and not released exists. If the deep learning is domesticated again, the I-type vertical parking space without corner points is wrongly identified, for example, zebra stripes are wrongly identified as parking spaces, so that the problems of frequent release of the parking spaces and increase of the wrong release of the parking spaces are solved, and the user experience is affected.
Disclosure of Invention
In view of the above-mentioned drawbacks or shortcomings in the prior art, the present application is directed to a parking space release method, an electronic device and a storage medium, so as to solve the problem of frequent release of a parking space and erroneous release caused by different types of parking spaces.
The embodiment of the application provides a parking space release method, which comprises the following steps:
Determining the end position in a preset navigation route according to the preset navigation route;
determining a parking range according to the end position;
Under the condition that a vehicle enters the parking range, a first parking space is identified based on an on-vehicle sensor on the vehicle, and the first parking space is released; the first parking spaces are other types of parking spaces except the I-type vertical parking spaces.
Optionally, the method further comprises:
If the vehicle is in the forbidden parking range, stopping identifying and releasing the first parking space; the forbidden stop range comprises at least one of urban public roads, expressways and highways.
Optionally, the identifying, based on the on-board sensor on the vehicle, the first parking space includes:
acquiring a surrounding ground image based on the vehicle-mounted sensor;
and if two opposite parking space corner points are identified from the surrounding ground image, determining a first parking space according to the two parking space corner points.
Optionally, the method further comprises:
Collecting surrounding environment information based on the vehicle-mounted sensor under the condition that the vehicle is driven into the parking range;
If the surrounding environment information comprises a parking lot identifier, a second parking space is identified based on the vehicle-mounted sensor, and the second parking space is released; the second parking space is an I-type vertical parking space.
Optionally, after the collecting the surrounding environment information based on the vehicle-mounted sensor, the method further includes:
And identifying according to the surrounding environment information, and if at least one of the toll bar and the square column is identified, determining that the surrounding environment information comprises a parking lot identifier.
Optionally, the identifying, based on the vehicle-mounted sensor, a second parking space includes:
acquiring a surrounding ground image based on the vehicle-mounted sensor;
And if two parallel parking lines are identified from the surrounding ground image, determining the parking space between the two parking lines as a second parking space.
Optionally, before the releasing the first parking space or the releasing the second parking space, the method further includes:
stopping releasing the parking space to be released if the barrier exists in the parking space to be released; the parking spaces to be released comprise a first parking space or a second parking space;
correspondingly, the releasing the first parking space or the second parking space comprises:
And releasing the parking space to be released.
Optionally, after the releasing the first parking space or the releasing the second parking space, the method further includes:
responding to a parking instruction, determining a parking space to be parked corresponding to the parking instruction, and guiding parking according to the parking space to be parked; the parking spaces to be parked comprise a first parking space or a second parking space.
The embodiment of the application also provides electronic equipment, which comprises:
A processor and a memory;
The processor is used for executing the steps of the parking space release method according to any embodiment of the application by calling the program or the instruction stored in the memory.
The embodiment of the application also provides a computer readable storage medium, which stores a program or instructions for causing a computer to execute the steps of the parking space release method according to any embodiment.
In summary, the application provides a parking space release method, which determines a parking range according to a preset navigation route by determining a terminal position in the preset navigation route and determining a parking space according to the terminal position, and identifies and releases other types of parking spaces except the I-type vertical parking space by analyzing edges and angles in a ground image based on a vehicle-mounted sensor on the condition that the vehicle is driven into the parking range, so as to avoid the situation that the I-type vertical parking space such as a mark line, a zebra crossing and the like is erroneously identified on a vehicle driving road, and avoid frequent identification and release of the parking space in the vehicle driving process by identifying a first parking space when the vehicle is driven into the parking range, thereby improving the driving experience of a user.
Drawings
Fig. 1 is a flowchart of a parking space release method provided by an embodiment of the application;
FIG. 2 is a flowchart of another parking space release method according to an embodiment of the present application;
fig. 3 is a schematic diagram of an I-type vertical parking space with corner points provided by the embodiment of the application;
fig. 4 is a schematic diagram of an I-type vertical parking space without corner points provided by the embodiment of the application;
FIG. 5 is a schematic view of a modified I-shaped vertical parking space provided by the embodiment of the application;
FIG. 6 is a schematic view of another modified vertical parking spot type I provided by the embodiment of the application;
fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be noted that, for convenience of description, only the portions related to the application are shown in the drawings.
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.
Fig. 1 is a flowchart of a parking space release method provided by an embodiment of the application. Referring to fig. 1, the parking space release method specifically includes:
S110, determining the end position in the preset navigation route according to the preset navigation route.
The preset navigation route may be a navigation route preset by a driver or a passenger, and may include a start point, an end point, a path from the start point to the end point, and the like. The end point position may be a position where the end point in the preset navigation route is located, may be a latitude and longitude position, or may be position information for locating the end point, such as a street position.
Specifically, the preset navigation route may be planned and applied through an in-vehicle system or an externally connected mobile device or the like before the vehicle runs. Furthermore, according to the preset navigation route, the end position can be determined from the navigation route for the subsequent planning of auxiliary parking.
S120, determining a parking range according to the end position.
The parking range may be a road range corresponding to a preset shape and a preset area with the end position as a center. The preset shape may be a circle, a square, or the like, and the preset area may be determined according to the road condition near the end position, or may be a default area, or the like.
Specifically, after the end position is determined, the end position may be used as a center, and the extension may be performed to the surrounding according to the preset shape and the preset area, and the road range obtained by the extension may be determined as the parking range, so as to be used for triggering the logic of parking space recognition in the parking range.
And S130, when the vehicle enters the parking range, identifying a first parking space based on an on-board sensor on the vehicle, and releasing the first parking space.
The vehicle-mounted sensor may include a camera and a radar, for example, a first number of fisheye cameras mounted on the vehicle and a second number of ultrasonic radars, where the first number and the second number may be determined according to a specific hardware condition of the vehicle, for example, the first number is 4, the second number is 12, and the like. The first parking space is other types of parking spaces except the I-type vertical parking space.
Specifically, during the running process of the vehicle, the current position of the vehicle can be determined according to a global positioning system (Global Positioning System, GPS) and the like on the vehicle, whether the current position of the vehicle enters a parking range or not is judged in real time, if the current position of the vehicle does not enter the parking range, a certain distance is indicated to exist from the end position of the preset navigation route, parking space identification is not required to be triggered, if the current position of the vehicle does not enter the parking range, the current position of the vehicle is indicated to be close to the end position of the preset navigation route, and parking space identification is triggered to provide parking assistance for a driver. The sensing of the environment around the vehicle may be performed based on an on-board sensor on the vehicle, and the sensed environment is identified by a central processor of the vehicle to identify the first parking space. And under the condition that the first parking space is identified, the first parking space can be released to remind a driver of parking operation.
It should be noted that, the first parking space is other types of parking spaces except the I-type vertical parking space, so that the I-type vertical parking space can be prevented from being identified on a road, and the problem that the I-type vertical parking space is identified by mistake due to crossing mark lines, zebra crossings and the like on the road is solved, so that the problem that the parking space is identified by mistake and released by mistake can be reduced by identifying and shielding the I-type vertical parking space on the road.
Alternatively, the first parking space may be identified based on an onboard sensor on the vehicle by:
acquiring a surrounding ground image based on a vehicle-mounted sensor; if two opposite parking space corner points are identified from the surrounding ground image, determining a first parking space according to the two parking space corner points.
Wherein the surrounding ground image may be an image of the ground surrounding the vehicle captured by the in-vehicle sensor. The two opposite parking space corner points may be two corner points closest to the vehicle in the corresponding border of the parking space.
Specifically, the vehicle-mounted sensor may be a sensor for capturing a picture, such as a camera, and a surrounding ground image may be captured. Further, the surrounding ground image may be analyzed and identified based on an image identification model pre-configured in the central processor. If two opposite parking space corner points are identified, the two opposite parking space corner points can be considered to correspond to one first parking space. It will be appreciated that if a number of consecutive pairs of two opposing parking space corner points are identified, it may be considered as a number of first parking spaces.
Optionally, in order to avoid that the vehicle recognizes and releases the first parking space on the forbidden road, a process of recognizing the forbidden range in combination with navigation may be added, which may specifically be:
and if the vehicle is in the forbidden range, stopping the identification and release of the first parking space.
The forbidden stop range comprises at least one of urban public roads, expressways and highways.
Specifically, during the running process of the vehicle, the current position of the vehicle can be determined according to the GPS and the like on the vehicle, whether the current position of the vehicle enters a forbidden parking range can be judged in real time according to road information in a navigation system, if the vehicle enters the forbidden parking range, the identification and release of the first parking space can be stopped, the resource waste is avoided, and if the vehicle does not enter the forbidden parking range, whether the vehicle enters the parking range can be continuously judged, and the first parking space is identified and released in the parking range.
According to the parking space release method provided by the embodiment of the application, the terminal position in the preset navigation route is determined according to the preset navigation route, the parking range is determined according to the terminal position, and under the condition that a vehicle enters the parking range, the parking spaces of other types except the I-type vertical parking spaces are determined and released through the analysis of edges and angles in the ground image based on the vehicle-mounted sensor on the vehicle, so that the situation that the I-type vertical parking spaces such as mark lines, zebra crossings and the like are erroneously identified on the vehicle driving road is avoided, and the first parking space is identified when the vehicle enters the parking range, so that frequent identification and release of the parking spaces in the vehicle driving process are avoided, and the driving experience of a user is improved.
Fig. 2 is a flowchart of another parking space release method according to an embodiment of the present application. On the basis of the above embodiments, the recognition logic for the second parking space is added, specifically, on the basis of the recognition of the first parking space, a process of recognizing the second parking space is added, and exemplary description is made. Referring to fig. 2, the parking space release method specifically includes:
s210, determining the end position in the preset navigation route according to the preset navigation route.
S220, determining a parking range according to the end position.
And S230, when the vehicle enters the parking range, identifying a first parking space based on an on-board sensor on the vehicle, and releasing the first parking space.
S240, collecting surrounding environment information based on the vehicle-mounted sensor.
The surrounding environment information may include, among other things, spatial information around the vehicle, and may include, for example, ground information, obstacle information, and the like.
Specifically, during the running process of the vehicle, the current position of the vehicle is determined according to the GPS on the vehicle, and whether the current position of the vehicle enters a parking range is judged in real time. In the case where the vehicle is driven into the parking range, surrounding environment information may be collected by an in-vehicle sensor, for example, surrounding image information may be photographed by an in-vehicle camera, surrounding point cloud information may be collected by an in-vehicle radar device, or the like.
Based on the above example, after the surrounding environment information is collected based on the vehicle-mounted sensor, the parking lot, such as an indoor and outdoor garage, can be further identified, which specifically can be:
and identifying according to the surrounding environment information, and if at least one of the toll bar and the square column is identified, determining that the surrounding environment information comprises a parking lot identifier.
Specifically, if the surrounding environment information is image information, whether the surrounding environment information comprises at least one of a charging rod and a square column can be judged through an image recognition method; if the surrounding environment information is the point cloud information, whether the surrounding environment information comprises at least one of a charging rod and a square column can be judged through a point cloud identification method. If the vehicle is in the parking area, the vehicle is indicated to drive into the parking area, the I-type vertical parking space can be identified and released in the follow-up process, if the vehicle is not in the parking area, the vehicle is indicated to be still on the road outside the parking area, and only the first parking space is identified and released in the follow-up process.
S250, if the surrounding environment information comprises a parking lot identifier, identifying a second parking space based on the vehicle-mounted sensor, and releasing the second parking space.
The second parking space is an I-shaped vertical parking space.
Specifically, if the surrounding environment information includes the parking lot identifier, it indicates that the vehicle has driven into the parking lot area, and the identification of the I-type vertical parking space cannot be interfered by the intersection mark line, the zebra crossing and the like on the road, so that the identification of the second parking space, i.e., the I-type vertical parking space can be triggered to provide parking assistance for the driver. The sensing of the environment around the vehicle may be performed based on an on-board sensor on the vehicle, and the sensed environment may be identified by a central processor of the vehicle to identify the second parking space. And under the condition that the second parking space is identified, the second parking space can be released to remind a driver of parking operation.
It should be noted that, even if the surrounding environment information includes the parking lot identifier, the first parking space may be identified. It is understood that if the surrounding environment information includes a parking lot identifier, the first parking space and/or the second parking space are identified based on the vehicle-mounted sensor, and the identified first parking space and/or the identified second parking space are released. Through the mode, the identification and release of the parking spaces in the parking area can be effectively increased, and the parking spaces which can be parked are avoided.
Alternatively, the second parking space may be identified based on the in-vehicle sensor by:
acquiring a surrounding ground image based on a vehicle-mounted sensor; if two parallel parking lines are identified from the surrounding ground image, a parking space between the two parking lines is determined as a second parking space.
The two parallel parking lines may be two parallel lines corresponding to the long side of the vehicle in a border corresponding to the parking space in the surrounding ground image.
Specifically, the vehicle-mounted sensor may be a sensor for capturing a picture, such as a camera, and a surrounding ground image may be captured. Further, the surrounding ground image may be analyzed and identified based on an image identification model pre-configured in the central processor. If two parallel parking lines are identified, a second parking space is considered to be corresponding between the two parallel parking lines. It will be appreciated that if two parking lines of consecutive pairs parallel to each other are identified, they may be considered as a plurality of second parking spaces.
It can be understood that the recognition of the second parking space can be realized by adding two parallel parking lines based on the recognition of the opposite parking space angular points, so that the problem of false release of the I-shaped vertical parking space without the angular points is avoided.
Exemplary, a schematic diagram of the type I vertical parking space with the corner is shown in fig. 3, and a schematic diagram of the type I vertical parking space without the corner is shown in fig. 4. A schematic diagram of a modified type I vertical parking space is shown in fig. 5, and a schematic diagram of another modified type I vertical parking space is shown in fig. 6. The identification of the similar type I vertical parking space may be considered as the identification of the second parking space, and the specific identification mode is not specifically limited in this embodiment.
On the basis of the above embodiment, before releasing the first parking space or releasing the second parking space, it may be further identified whether there is a vehicle already parked in the first parking space or the second parking space, so as to avoid invalid release of the parking space and interfere with decision of the driver, which may specifically be:
And stopping releasing the parking space to be released if the obstacle exists in the parking space to be released.
The parking space to be released can be a parking space identified through surrounding perceived information, and the parking space to be released can be a first parking space or a second parking space.
Specifically, the first parking space or the second parking space obtained by identifying the surrounding environment information is used as the parking space to be released, and further, whether an obstacle exists in the parking space to be released or not can be judged by further identifying the surrounding environment information, namely identifying the parking space to be released determined in the surrounding environment information. If an obstacle exists, the parking space to be released is indicated to be occupied and cannot be used for parking of the vehicle, so that subsequent release processing is not needed. If no obstacle exists, the parking space to be released is indicated to be unoccupied and can be used for parking of the vehicle, so that subsequent release processing can be performed, namely, release is performed on the parking space to be released, so that a driver is reminded of being capable of parking operation.
On the basis of the above embodiment, after the first parking space is released or the second parking space is released, a parking instruction sent by the driver through the vehicle-mounted system may also be received, and the driver may be assisted to perform a parking operation according to the parking instruction, which may specifically be:
And responding to the parking instruction, determining a parking space to be parked corresponding to the parking instruction, and guiding parking according to the parking space to be parked.
The parking instruction may be an instruction for triggering parking guidance, and the parking instruction may include a parking space to be parked selected by a driver, and if the driver selects the parking space, the parking space that has been released closest to the vehicle may be used as the parking space to be parked. The parking spaces to be parked may include a first parking space or a second parking space.
Specifically, the driver can actively send a parking instruction to the vehicle-mounted system, can respond to the parking instruction after receiving the parking instruction, analyze the parking instruction, judge whether to carry the parking space to be parked in the parking instruction, if so, carry out subsequent parking guidance according to the carried parking space to be parked, and if not, determine one closest to the vehicle from the released parking spaces as the parking space to be parked for subsequent parking guidance. Furthermore, after the parking space to be parked is determined, a path for parking the vehicle can be planned according to the position of the parking space to be parked, so as to accurately assist the parking operation of the driver.
According to the parking space release method provided by the embodiment of the application, under the condition that a vehicle enters a parking range, the vehicle-mounted sensor is used for collecting the surrounding environment information, if the surrounding environment information comprises the parking lot identification, the vehicle-mounted sensor is used for identifying the second parking space and releasing the second parking space, so that the problem that the I-type vertical parking space cannot be identified in the parking range is avoided, the identification effect of the I-type vertical parking space is improved, the false release effect generated for different types of parking spaces is reduced, and the user experience is improved.
In general, the automatic parking system is composed of four fisheye cameras, twelve ultrasonic radars and a central controller, but of course, other composition forms are also possible, and the invention is not limited thereto. After domestication of the I-shaped vertical parking space, in the process of normally searching for the parking space, four fisheye cameras and twelve ultrasonic radars can sense surrounding environments and transmit the surrounding environments to a central controller, and the central controller can recognize the I-shaped vertical parking space capable of parking to release the parking space. The parking space can be released through the identification of the corner points generally so as to reduce the false release rate, however, the existing I-shaped parking space without the corner points has the problem that the false release rate is increased, and bad experience is caused for users.
The release of the I-shaped vertical parking space is mainly realized through visual perception and deep learning domestication, and mainly the problem that the I-shaped vertical parking space is not released because two corner points of the parking space closest to the vehicle are identified.
Because the corner behind the vertical parking place is far away from the corner behind the vertical parking place when the parking place is released, the corner behind the parking place is difficult to identify because of distance and light, so in order to reduce the false release problem caused by I-type vertical parking place release, the false release problem can be optimized by adding two strategies:
(1) And combining the vehicle navigation information, determining the current road information according to the vehicle navigation information, and combining the navigation terminal position (the terminal position in the preset navigation route). If the current road information given by the vehicle navigation information is urban public roads, expressways and the like, any parking space is not released, so that the situation that the parking space is released by mistake at each intersection and zebra crossing is reduced.
(2) Identifying toll bars and the like (parking lot identification) at the entrance of an indoor and outdoor garage (parking lot) by combining 4 fisheye cameras; after entering the toll bar, the I-shaped vertical parking space is identified to be normally released.
Fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application. As shown in fig. 7, an electronic device 700 includes one or more processors 701 and memory 702.
The processor 701 may be a Central Processing Unit (CPU) or other form of processing unit having data processing and/or instruction execution capabilities, and may control other components in the electronic device 700 to perform desired functions.
Memory 702 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, random Access Memory (RAM) and/or cache memory (cache), and the like. The non-volatile memory may include, for example, read Only Memory (ROM), hard disk, flash memory, and the like. One or more computer program instructions may be stored on the computer readable storage medium and executed by the processor 701 to implement the stall release method and/or other desired functions of any of the embodiments of the present application described above. Various content such as initial arguments, thresholds, etc. may also be stored in the computer readable storage medium.
In one example, the electronic device 700 may further include: input device 703 and output device 704, which are interconnected by a bus system and/or other form of connection mechanism (not shown). The input device 703 may include, for example, a keyboard, a mouse, and the like. The output device 704 can output various information to the outside, including early warning prompt information, braking force, etc. The output device 704 may include, for example, a display, speakers, a printer, and a communication network and remote output apparatus connected thereto, etc.
Of course, only some of the components of the electronic device 700 that are relevant to the present application are shown in fig. 7 for simplicity, components such as buses, input/output interfaces, etc. are omitted. In addition, the electronic device 700 may include any other suitable components depending on the particular application.
In addition to the methods and apparatus described above, embodiments of the present application may also be a computer program product comprising computer program instructions which, when executed by a processor, cause the processor to perform the steps of the parking space release method provided by any of the embodiments of the present application.
The computer program product may write program code for performing operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like 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 computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present application may also be a computer-readable storage medium, on which computer program instructions are stored, which, when executed by a processor, cause the processor to perform the steps of the parking space release method provided by any embodiment of the present application.
The computer readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is 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 (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of the present application. As used in the specification and in the claims, the terms "a," "an," "the," and/or "the" are not specific to a singular, but may include a plurality, unless the context clearly dictates otherwise. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method or apparatus that includes the element.
It should also be noted that the positional or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the positional or positional relationship shown in the drawings, are merely for convenience of describing the present application and simplifying the description, and do not indicate or imply that the apparatus or element in question must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present application. Unless specifically stated or limited otherwise, the terms "mounted," "connected," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
The principles and embodiments of the present application have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present application and its core ideas. The foregoing is merely illustrative of the preferred embodiments of this application, and it is noted that there is objectively no limit to the specific structure disclosed herein, since numerous modifications, adaptations and variations can be made by those skilled in the art without departing from the principles of the application, and the above-described features can be combined in any suitable manner; such modifications, variations and combinations, or the direct application of the inventive concepts and aspects to other applications without modification, are contemplated as falling within the scope of the present application.

Claims (9)

1. The parking space release method is characterized by comprising the following steps of:
Determining the end position in a preset navigation route according to the preset navigation route;
determining a parking range according to the end position;
Under the condition that a vehicle enters the parking range, a first parking space is identified based on an on-vehicle sensor on the vehicle, and the first parking space is released; the first parking spaces are other types of parking spaces except the I-type vertical parking spaces;
Collecting surrounding environment information based on the vehicle-mounted sensor under the condition that the vehicle is driven into the parking range;
If the surrounding environment information comprises a parking lot identifier, a second parking space is identified based on the vehicle-mounted sensor, and the second parking space is released; the second parking space is an I-type vertical parking space.
2. The method as recited in claim 1, further comprising:
If the vehicle is in the forbidden parking range, stopping identifying and releasing the first parking space; the forbidden stop range comprises at least one of urban public roads, expressways and highways.
3. The method of claim 1, wherein the identifying the first parking space based on an onboard sensor on the vehicle comprises:
acquiring a surrounding ground image based on the vehicle-mounted sensor;
and if two opposite parking space corner points are identified from the surrounding ground image, determining a first parking space according to the two parking space corner points.
4. The method of claim 1, further comprising, after the collecting ambient information based on the in-vehicle sensor:
And identifying according to the surrounding environment information, and if at least one of the toll bar and the square column is identified, determining that the surrounding environment information comprises a parking lot identifier.
5. The method of claim 1, wherein the identifying a second parking space based on the in-vehicle sensor comprises:
acquiring a surrounding ground image based on the vehicle-mounted sensor;
And if two parallel parking lines are identified from the surrounding ground image, determining the parking space between the two parking lines as a second parking space.
6. The method of claim 1, further comprising, prior to the releasing for the first parking space or the releasing for the second parking space:
stopping releasing the parking space to be released if the barrier exists in the parking space to be released; the parking spaces to be released comprise a first parking space or a second parking space;
correspondingly, the releasing the first parking space or the second parking space comprises:
And releasing the parking space to be released.
7. The method of claim 1, further comprising, after the releasing for the first parking space or the releasing for the second parking space:
responding to a parking instruction, determining a parking space to be parked corresponding to the parking instruction, and guiding parking according to the parking space to be parked; the parking spaces to be parked comprise a first parking space or a second parking space.
8. An electronic device, the electronic device comprising:
A processor and a memory;
The processor is configured to execute the steps of the parking space release method according to any one of claims 1 to 7 by calling a program or instructions stored in the memory.
9. A computer-readable storage medium storing a program or instructions that cause a computer to execute the steps of the parking space release method according to any one of claims 1 to 7.
CN202310219319.2A 2023-03-08 2023-03-08 Parking space release method, electronic equipment and storage medium Active CN116206482B (en)

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