CN117141466A

CN117141466A - Automatic parking pushing method, device, equipment and storage medium

Info

Publication number: CN117141466A
Application number: CN202311120547.0A
Authority: CN
Inventors: 王子毅; 侯立升; 许东春; 廖正凯
Original assignee: Zhejiang Geely Holding Group Co Ltd; Ningbo Geely Automobile Research and Development Co Ltd
Current assignee: Zhejiang Geely Holding Group Co Ltd; Ningbo Geely Automobile Research and Development Co Ltd
Priority date: 2023-08-31
Filing date: 2023-08-31
Publication date: 2023-12-01

Abstract

The application provides an automatic parking pushing method, device, equipment and storage medium, which can be used in the technical field of intelligent vehicles. The method comprises the following steps: in response to monitoring that at least one parking space exists around the target vehicle, determining a target parking space to be parked in from the at least one parking space; judging whether the target vehicle performs multiple warehouse kneading operations around the target parking space, if so, determining the relative movement distance of the target vehicle during each warehouse kneading operation; judging whether the target vehicle has an intention of being parked in the target parking space or not according to the repeated warehouse kneading operation and the relative movement distances; and generating automatic parking pushing information in response to the intention of parking the target parking space, so as to output the automatic parking pushing information. The method shortens the parking time of the user and improves the parking experience of the user.

Description

Automatic parking pushing method, device, equipment and storage medium

Technical Field

The application relates to the technical field of intelligent vehicles, in particular to an automatic parking pushing method, an automatic parking pushing device, automatic parking pushing equipment and a storage medium.

Background

With the continuous development of intelligent vehicle technology, the automatic parking function is an important component of intelligent vehicles, and is also continuously improved in the direction of optimizing the parking experience of users.

The current user uses an automatic parking function, generally, the user drives the vehicle to the periphery of a parking space, and after the automatic parking has no effect, the automatic parking function is selected by the user at an operating mechanism corresponding to the automatic parking function included in the vehicle, so that the automatic parking function is provided for the user.

However, in the current method for using the automatic parking function, the user is required to drive around the parking space by himself and to judge the parking scene by himself so as to determine whether to select the automatic parking function, so that the user parking time is consumed and the user parking experience is affected.

Disclosure of Invention

The application provides an automatic parking pushing method, device, equipment and storage medium, which are used for solving the technical problems that in the prior art, a user is required to judge a parking scene by himself so as to determine whether to select an automatic parking function, so that the user parking time is consumed and the user parking experience is influenced.

In a first aspect, the present application provides an automatic parking pushing method, including: in response to monitoring that at least one parking space exists around the target vehicle, determining a target parking space to be parked in from the at least one parking space;

Judging whether the target vehicle performs multiple warehouse kneading operations around the target parking space, if so, determining the relative movement distance of the target vehicle during each warehouse kneading operation;

judging whether the target vehicle has an intention of being parked in the target parking space or not according to the repeated warehouse kneading operation and the relative movement distances;

and generating automatic parking pushing information in response to the intention of parking the target parking space, so as to output the automatic parking pushing information.

In one possible design, the determining whether the target vehicle has an intention to park in the target parking space according to the multiple-time pool rolling operation and the respective relative movement distances includes: comparing the relative movement distance corresponding to each library operation with a preset relative movement distance threshold value, and determining a target library operation of which the relative movement distance is smaller than the preset relative movement distance threshold value according to a comparison result; performing accumulated calculation on the target pool operation to obtain target pool operation times; comparing the target kneading frequency with a preset kneading frequency threshold; and when the target pool number of operations is determined to be larger than the preset pool number threshold, determining that the target vehicle has an intention of being parked in the target parking space.

In one possible design, the determining the target parking space to be parked from the at least one parking space includes: determining the nearest parking space from the at least one parking space which can be parked into the target vehicle; and judging whether the nearest parking space to the target vehicle is smaller than a preset distance threshold value, and if so, determining the nearest parking space to the target vehicle as a target parking space.

In one possible design, the method further comprises: monitoring whether a target vehicle is started in a target parking space; in response to monitoring that the target vehicle is started in the target parking space, judging whether the target vehicle is parked into the target vehicle through an automatic parking system; responsive to determining that the target vehicle is parked into the target vehicle through the automatic parking system, and monitoring that the target vehicle performs a plurality of ex-warehouse operations around the target parking space, determining a relative movement distance of the target vehicle during each of the ex-warehouse operations; judging whether the target vehicle has the intention of parking out of the target parking space or not according to the multiple-time ex-warehouse operation and each relative movement distance; and generating automatic parking push information in response to the intention of parking the target parking space, so as to output the automatic parking push information.

In one possible design, the determining whether the target vehicle has an intention to park out of the target parking space according to the multiple parking operations and the respective relative movement distances includes: comparing the corresponding relative movement distance of each ex-warehouse operation with a preset relative movement distance threshold value, and determining a target ex-warehouse operation of which the relative movement distance is smaller than the preset relative movement distance threshold value according to a comparison result; performing accumulation calculation on the target ex-warehouse operation to obtain target ex-warehouse operation times; comparing the target ex-warehouse operation times with the preset ex-warehouse times threshold; and when the target ex-warehouse operation times are determined to be larger than the preset ex-warehouse times threshold, determining that the target vehicle has the intention of parking out of the target parking space.

In one possible design, after the generating the automatic in-flight information to output the automatic in-flight information, the method further includes: and responding to the received automatic parking instruction triggered by the user, and controlling the target vehicle to automatically park into the target parking space.

In one possible design, after the generating the automatic out-of-put push information to output the automatic out-of-put push information, the method further includes: and responding to the received automatic parking instruction triggered by the user, and controlling the target vehicle to be automatically parked out of the target vehicle.

In a second aspect, the present application provides an automatic parking pushing apparatus, including:

the determining module is used for determining a target parking space to be parked in from at least one parking space in response to the fact that the periphery of the target vehicle is monitored to have the at least one parking space;

the judging module is used for judging whether the target vehicle performs multiple library kneading operations around the target parking space, if so, determining the relative movement distance of the target vehicle during each library kneading operation;

the judging module is further used for judging whether the target vehicle has an intention of being parked in the target parking space according to the repeated warehouse kneading operation and the relative movement distances;

and the generation module is used for generating automatic parking pushing information in response to the intention of parking the target parking space so as to output the automatic parking pushing information.

In a third aspect, the present application provides an electronic device comprising: a processor, and a memory communicatively coupled to the processor;

the memory stores computer-executable instructions;

the processor executes computer-executable instructions stored in the memory to implement the method as described in the first aspect.

In a fourth aspect, the present application provides a computer-readable storage medium having stored therein computer-executable instructions for performing the method according to the first aspect when executed by a processor.

In a fifth aspect, the application provides a computer program product comprising a computer program which, when executed by a processor, implements the method according to the first aspect.

According to the automatic parking pushing method, the automatic parking pushing device, the automatic parking pushing equipment and the storage medium, at least one parking stall is arranged around a target vehicle in response to monitoring, and a target parking stall to be parked is determined from the at least one parking stall; judging whether the target vehicle performs multiple warehouse kneading operations around the target parking space, if so, determining the relative movement distance of the target vehicle during each warehouse kneading operation; judging whether the target vehicle has an intention of being parked in the target parking space or not according to the repeated warehouse kneading operation and the relative movement distances; and generating automatic parking pushing information in response to the intention of parking the target parking space, so as to output the automatic parking pushing information. When the target vehicle is in a running state, the automatic parking system monitors the parking spaces around the target vehicle in real time, so that the target parking space to be parked can be determined according to the at least one parking space and the current position of the target vehicle by monitoring at least one parking space around the target vehicle. And by monitoring the repeated warehouse kneading operation of the target vehicle around the target parking space, the corresponding relative movement distance of each warehouse kneading operation can be determined, and whether the target vehicle has the intention of being parked in the target parking space can be judged based on the repeated warehouse kneading operation and the relative movement distances. After the intention of the target vehicle to park in the target parking space is determined, the automatic parking push information can be output by generating the automatic parking push information. The user does not need to adjust the car body and manually click the operating mechanism corresponding to the automatic parking function after the user parks without the effect, so that the parking time of the user is shortened, and the parking experience of the user is improved. When judging whether the intention of parking in the target parking space is determined, whether repeated library kneading operations are performed around the target parking space is monitored, and the relative movement distance of each library kneading operation is judged, so that whether the intention of parking in the target parking space is determined more accurately, and the occurrence of misjudgment is effectively prevented.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.

Fig. 1 is an application scenario diagram of an automatic parking pushing method according to an embodiment of the present application;

fig. 2 is a flowchart of an automatic parking pushing method according to an embodiment of the present application;

fig. 3 is a flowchart of an automatic parking pushing method according to another embodiment of the present application;

fig. 4 is a flowchart of an automatic parking pushing method according to another embodiment of the present application;

fig. 5 is a schematic structural diagram of an automatic parking pushing device according to an embodiment of the present application;

fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the application.

Specific embodiments of the present application have been shown by way of the above drawings and will be described in more detail below. The drawings and the written description are not intended to limit the scope of the inventive concepts in any way, but rather to illustrate the inventive concepts to those skilled in the art by reference to the specific embodiments.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of apparatus and methods consistent with aspects of the application as detailed in the accompanying claims.

For a clear understanding of the technical solutions of the present application, the prior art solutions will be described in detail first.

At present, when a user uses an automatic parking function, the user usually drives a vehicle to the periphery of a parking space, and after the user parks by himself, the user clicks a switch corresponding to the automatic parking function by himself after the user parks by himself without any effect, so that the automatic parking function is provided for the user. Specifically, when a user has a parking requirement, the user controls the vehicle to travel around the parking space through the vehicle operating mechanism, and adjusts the traveling direction of the vehicle and the distance between the vehicle and the parking space based on the current relative position between the vehicle and the parking space. After the user adjusts for many times but cannot park in the parking space of the vehicle to park, the vehicle is adjusted to a state of not affecting the surrounding environment according to the current position of the vehicle and the surrounding environment, and the operating mechanism corresponding to the automatic parking function is clicked manually. And responding to the operating mechanism corresponding to the automatic parking function to be in an open state, and providing the automatic parking function for a user. Therefore, the user is required to adjust the vehicle state according to the vehicle position after repeated trial and error, and the automatic parking function of the vehicle is manually started, so that the user parking time is consumed, and the user parking experience is affected.

Therefore, in order to shorten the parking time of the user, the user does not actively click the automatic parking switch, but determines the parking space to be parked by the user from at least one parking space existing around the current time after the automatic parking system monitors the at least one parking space existing around the current time. Therefore, whether the user has the parking intention is judged according to the garage rubbing operation performed by the user around the parking space to be parked and the moving distance generated when the vehicle responds to the user operation. And automatically pushing an automatic parking function for the user after determining that the user has the parking intention. The automatic parking function of the vehicle is not required to be manually started by a user and the state of the vehicle is not required to be adjusted by the user, so that the parking time of the user is shortened, and the parking experience of the user is improved. When judging whether the user has the parking intention, the method not only monitors whether the user performs multiple times of parking operation around the parking space to be parked, but also judges the moving distance generated during each time of parking operation, thereby accurately judging whether the user has the parking intention so as to achieve the effect of preventing misjudgment.

Fig. 1 is an application scenario diagram of an automatic parking pushing method according to an embodiment of the present application, where, as shown in fig. 1, a system corresponding to the automatic parking pushing method in the embodiment of the present application includes: the system comprises a target vehicle 1, an automatic parking system 2 and a target vehicle control center 3, wherein the target vehicle 1 is a vehicle which runs around a parking lot or other parking spaces and possibly has a parking intention. The automatic parking system 2 is a system corresponding to an automatic parking function included in the target vehicle. The target vehicle control center 3 may be an on-vehicle computer included in the target vehicle. First, the automatic parking system 2 determines a target parking space to be parked from at least one parking space in response to detecting that there is at least one parking space around the target vehicle 1. After the target parking space is determined, if the automatic parking system 2 monitors that the target vehicle 1 performs a plurality of pool rolling operations around the target parking space, the relative movement distance of the target vehicle 1 during each pool rolling operation is determined. And judging whether the target vehicle 1 has the intention of being parked in the target parking space or not according to the repeated warehouse kneading operation and the relative movement distances. If the intention of parking in the target parking space is provided, automatic parking push information is generated, and the automatic parking push information is sent to the target vehicle control center 3, so that the target vehicle control center outputs the automatic parking push information.

The following describes the technical scheme of the present application and how the technical scheme of the present application solves the above technical problems in detail with specific embodiments. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.

Fig. 2 is a flowchart of an automatic parking pushing method according to an embodiment of the present application, and as shown in fig. 2, an execution body of the embodiment is an automatic parking pushing device. The automatic parking pushing device is located in the electronic equipment. The automatic parking pushing method provided by the embodiment comprises the following steps:

in step 201, in response to detecting that at least one parking space exists around the target vehicle, determining a target parking space to be parked in from the at least one parking space.

Wherein the target vehicle is a vehicle having an automatic parking system, and an automatic parking operation can be performed.

The parking space can be a parking space which is occupied by no vehicle in a parking space or other places with parking spaces.

The target parking space is a parking space into which the target vehicle is most likely to be parked.

In this embodiment, in response to the target vehicle traveling in the current area, the vehicle sensor senses environmental information existing around the target vehicle according to the preset sensing range. And sending the environmental information existing around the vehicle to the automatic parking system as a sensing result. The automatic parking system identifies the sensing result and judges whether the sensing result comprises at least one parking space.

The preset sensing range is a range which is preset by taking a target vehicle as a center and can be sensed by a vehicle sensor.

The sensing result can be in the form of an image or a video. The automatic parking system can recognize whether the target vehicle has at least one parking space around the target vehicle in the sensing result through a parking space recognition algorithm.

Optionally, the automatic parking system responds to the detection that at least one parking-available space is provided around the target vehicle, determines the parking-available space closest to the target vehicle according to the sensing result, acquires the parking-available space closest to the target vehicle, and judges whether the target vehicle drives away from the parking-available space closest to the target vehicle within a preset time by taking the parking-available space closest to the target vehicle as a target, if not, the parking-available space closest to the target vehicle is determined as the target parking-available space.

The preset time is the time for the target vehicle to travel or stay around the nearest parking space.

Step 202, judging whether the target vehicle performs multiple warehouse kneading operations around the target parking space, if so, determining the relative movement distance of the target vehicle during each warehouse kneading operation.

Wherein the pool operation is an operation of advancing or retreating the target vehicle within a certain distance in response to a user operation.

The relative movement distance is the movement distance generated by the current operation of the target vehicle and the last operation of the target vehicle.

It is understood that when the driver has an intention to park the vehicle, the vehicle parking direction is adjusted by repeatedly performing the parking operation within a certain distance around the target parking space, so that it is possible to further determine whether the target vehicle has an intention to park the target parking space by acquiring the relative movement distance generated each time the target vehicle performs the parking operation.

Specifically, after determining a target parking space of a target vehicle, judging whether the target vehicle performs a plurality of library rubbing operations around the target parking space, if the target vehicle is determined to perform the library rubbing operations around the target parking space, acquiring a relative movement distance corresponding to the currently performed library rubbing operation, and storing the relative movement distance corresponding to the currently performed library rubbing operation in a storage medium corresponding to an automatic parking system. And then, in response to determining that the target vehicle performs the library operation for a plurality of times around the target parking space, the storage medium can acquire the relative movement distance of the target vehicle when the target vehicle stops the currently performed library operation and each time the library operation is performed, thereby acquiring the relative movement distance of the target vehicle when each library operation is performed.

When the relative movement distance corresponding to the currently executed garage rubbing operation is obtained, if the currently executed garage rubbing operation is the first garage rubbing operation executed by the target vehicle after the target parking space is determined, obtaining a distance difference value between the position corresponding to the currently executed garage rubbing operation of the target vehicle and the position after the target parking space is determined, and determining the distance difference value as the relative movement distance corresponding to the currently executed garage rubbing operation of the target vehicle. Thereby acquiring the relative movement distance of the currently performed kneading operation. If the currently executed pool operation is not the first pool operation executed by the target vehicle after the target parking space is determined, acquiring a distance difference value between a position corresponding to the currently executed pool operation of the target vehicle and a position corresponding to the last executed pool operation, and determining the distance difference value as a relative movement distance corresponding to the currently executed pool operation of the target vehicle.

Step 203, determining whether the target vehicle has an intention to park in the target parking space according to the multiple-time kneading operation and the respective relative movement distances.

It will be appreciated that, since there may be a case where the target vehicle performs a pool rolling operation around the target parking space to achieve the intention of turning around or turning around instead of the intention of parking the vehicle, by presetting the distance threshold and the number of times threshold, it is possible to determine that the relative movement distance of the target vehicle is smaller than the distance threshold, and that the intention of the target vehicle is the intention of parking the vehicle when the number of times smaller than the distance threshold is greater than the number of times threshold.

Specifically, after the relative movement distance of the target vehicle during each pool rolling operation is obtained, whether the relative movement distance corresponding to each pool rolling operation is smaller than a preset distance threshold value or not is sequentially judged according to the relative movement distance corresponding to each pool rolling operation, and if so, the pool rolling operation is marked. And determining that the target vehicle has an intention to park in the target parking space in response to the marking times reaching a preset time threshold.

It is to be understood that the method for determining whether the target vehicle has an intention to park in the target parking space based on the multiple kneading operations and the respective relative movement distances may be other methods, which is not limited in this embodiment.

In step 204, in response to having an intention to park in the target parking space, automatic parking push information is generated to output the automatic parking push information.

The automatic parking pushing information is generated by the automatic parking system according to the parking space information of the target parking space. The automatic docking push information may specifically include: panorama of the target parking space, position information of the target parking space, whether an automatic parking option is selected, and the like.

Specifically, after the intention of the target vehicle to park in the target parking space is determined, based on the fact that the target vehicle is not completely located in the target parking space at present, parking space information of the target parking space is obtained according to a stored high-precision map, and automatic parking pushing information is generated according to the parking space information of the target parking space. In response to the generation of the automatic parking push information, the automatic parking push information is sent to a target vehicle control center, and the target vehicle control center sends the panoramic image of the target parking space, the position information of the target parking space and whether the automatic parking option is selected to a display screen included in the target vehicle according to the automatic parking push information, so that a driver is prompted whether the automatic parking option is selected. Optionally, the above-mentioned option of whether to select automatic parking is sent to a voice control module included in the target vehicle control center, and the voice asks the driver whether to select the automatic parking option.

The target vehicle control center may be a vehicle-mounted computer included in the target vehicle.

When determining that the target vehicle is not completely located in the target parking space, the method specifically may be: the vehicle sensor senses the current surrounding environment of the target vehicle, judges whether the target vehicle is completely located in a parking line corresponding to the target parking space, if so, determines that the target is completely located in the target parking space, and if not, determines that the target vehicle is not completely located in the target parking space. And after judging the result, sending the result to an automatic parking system, so as to generate automatic parking pushing information when the fact that the target vehicle is not completely located in the target parking space is determined. When the fact that the target is completely located in the target parking space is determined, the fact that the target vehicle is parked in the target parking space is determined, and automatic parking pushing information is not generated.

According to the automatic parking pushing method, in response to the fact that at least one parking-available parking space is arranged around a target vehicle, a target parking space to be parked is determined from the at least one parking-available parking space; judging whether the target vehicle performs multiple library kneading operations around the target parking space, if so, determining the relative movement distance of the target vehicle during each library kneading operation; judging whether the target vehicle has the intention of being parked in the target parking space or not according to the repeated warehouse kneading operation and the relative movement distances; in response to the intention of having to park into the target parking space, automatic parking push information is generated so as to output the automatic parking push information. When the target vehicle is in a running state, the automatic parking system monitors the parking spaces around the target vehicle in real time, so that the target parking space to be parked can be determined according to the at least one parking space and the current position of the target vehicle by monitoring at least one parking space around the target vehicle. And by monitoring the repeated warehouse kneading operation of the target vehicle around the target parking space, the corresponding relative movement distance of each warehouse kneading operation can be determined, and whether the target vehicle has the intention of being parked in the target parking space can be judged based on the repeated warehouse kneading operation and the relative movement distances. After the intention of the target vehicle to park in the target parking space is determined, the automatic parking push information can be output by generating the automatic parking push information. The user does not need to adjust the car body and manually click the operating mechanism corresponding to the automatic parking function after the user parks without the effect, so that the parking time of the user is shortened, and the parking experience of the user is improved. When judging whether the intention of parking in the target parking space is determined, whether repeated library kneading operations are performed around the target parking space is monitored, and the relative movement distance of each library kneading operation is judged, so that whether the intention of parking in the target parking space is determined more accurately, and the occurrence of misjudgment is effectively prevented.

Fig. 3 is a flowchart of an automatic parking pushing method according to another embodiment of the present application, as shown in fig. 3, in which the intention of determining whether a target vehicle has an intention to park in a target parking space according to a plurality of operations and respective relative movement distances is further refined, when determining whether the target vehicle has an intention to park in the target parking space according to the plurality of operations and respective relative movement distances, the embodiment includes the following steps:

step 301, comparing the relative movement distance corresponding to each library operation with a preset relative movement distance threshold, and determining a target library operation with the relative movement distance smaller than the preset relative movement distance threshold according to the comparison result.

The preset relative movement distance threshold is a maximum relative movement distance which is determined by a researcher and a researcher in advance according to the relative movement distance generated by the vehicle in big data when the vehicle has the intention of parking in the vehicle and the vehicle is operated to perform kneading warehouse.

Specifically, in response to a target vehicle currently executing a library operation, acquiring a relative movement distance corresponding to the currently executing library operation, acquiring a pre-stored preset relative movement distance threshold, comparing the relative movement distance corresponding to the currently executing library operation with the preset relative movement distance threshold, and judging whether the relative movement distance corresponding to the currently executing library operation is smaller than the preset relative movement distance threshold. If so, indicating that the target vehicle is most likely to have a vehicle parking intention in the secondary pool operation, acquiring the secondary pool operation, determining the secondary pool operation as the target pool operation, and marking the target pool operation.

The target pool operation is a pool operation in which the corresponding relative movement distance is smaller than a preset relative movement distance threshold when the target vehicle executes the pool operation.

When the target kneading operation is marked, the target kneading operation may be specifically marked after the target kneading operation is determined, so as to form a target kneading operation mark, where the mark may be a sequence mark for determining the target kneading operation or other marks that may represent the identity of the target kneading operation.

It can be appreciated that if the relative movement distance corresponding to the currently performed pool operation is greater than or equal to the preset relative movement distance threshold, it is indicated that the target vehicle has a high probability of not having an intention to park the vehicle during the pool operation, and the pool operation is not marked.

Step 302, performing accumulated computation on the target pool operation to obtain the target pool operation times.

The target pool operation times are the times of the target vehicle executing the target pool operation.

It can be understood that, after each time the target vehicle performs the pool operation, the automatic parking system determines the target pool operation according to the pool operation. The number of target pool operations can be obtained by performing the accumulated computation on the judged target pool operations.

Specifically, a plurality of times of pool operation is executed in response to a target vehicle, the target pool operation is determined according to the relative movement distance corresponding to the plurality of times of pool operation, the pool operation with the target pool operation identification is obtained, the pool operation with the target pool operation identification is accumulated, the times of the target pool operation are determined, and the times of the target pool operation are obtained.

Step 303, comparing the target number of times of kneading and storing with a preset threshold number of times of kneading and storing.

The preset database kneading frequency threshold is the frequency of the target database kneading operation performed by the research and development personnel according to the preset database kneading frequency of the target vehicle when the vehicle has the intention of being parked in the vehicle, and the determined target database kneading operation frequency of the target vehicle is at least performed.

Specifically, after the target number of times of kneading and storing operation is obtained, a pre-stored preset number of times of kneading and storing threshold is obtained, the target number of times of kneading and storing operation is compared with the preset number of times of kneading and storing threshold, and whether the target number of times of kneading and storing operation is larger than the preset number of times of kneading and storing threshold is judged.

And step 304, determining that the target vehicle has an intention of being parked in the target parking space when the target number of times of the pool kneading operation is determined to be larger than the preset threshold value of the number of times of the pool kneading operation.

Specifically, whether the target number of times of the kneading warehouse is larger than a preset kneading warehouse number of times threshold is judged, if the number of times of the kneading warehouse is larger than the preset kneading warehouse number of times threshold, the fact that the target vehicle performs the target kneading warehouse operation meeting the preset kneading warehouse number of times threshold within the preset relative movement distance threshold is indicated, the requirement that the target vehicle has the intention of parking in the vehicle is met, and if the number of times of the kneading warehouse is larger than the preset kneading warehouse number of times threshold, the intention of parking in the target parking space is indicated.

It will be appreciated that the above-mentioned preset relative movement distance threshold value and the preset kneading number threshold value may be stored in a storage medium of the automatic parking system, and may specifically be stored in a data table or may be stored in another form, which is not limited in this embodiment.

It can be appreciated that if it is determined that the number of target pool operations is less than or equal to the preset pool number threshold, it is determined that the target vehicle does not have an intention to park in the target parking space, and an automatic parking function is not required to be pushed to the user.

According to the automatic parking pushing method provided by the embodiment, when judging whether a target vehicle has an intention of parking in a target parking space according to multiple library rubbing operations and each relative movement distance, comparing the relative movement distance corresponding to each library rubbing operation with a preset relative movement distance threshold, and determining a target library rubbing operation with the relative movement distance smaller than the preset relative movement distance threshold according to a comparison result; performing accumulated calculation on the target kneading operation to obtain the target kneading operation times; comparing the target number of times of kneading warehouse operation with a preset threshold value of times of kneading warehouse; and when the number of times of the target pool operation is determined to be larger than the preset pool number threshold, determining that the target vehicle has the intention of being parked in the target parking space. Because the target vehicle can execute multiple times of the pool rubbing operation within a certain distance range around the target parking space when the target vehicle has the parking intention, after the target vehicle executes multiple times of the pool rubbing operation, the target pool rubbing operation with the relative movement distance smaller than the preset relative movement distance threshold can be determined by comparing the relative movement distance corresponding to each pool rubbing operation with the preset relative movement distance threshold. And the number of times of the target pool operation can be determined by carrying out accumulated calculation on the target pool operation. Therefore, by comparing the target pool number with the preset pool number threshold, whether the number of the target pool number performed by the target vehicle is larger than the preset pool number threshold can be determined, and when the number of the target pool number is determined to be larger than the preset pool number threshold, the intention of the target vehicle to park in the target parking space is determined, so that the intention of the target vehicle to park in the vehicle is accurately determined.

Fig. 4 is a flowchart of an automatic parking pushing method according to another embodiment of the present application, as shown in fig. 4, in this embodiment, a target parking space determined to be parked from at least one parking-available parking space is further refined, and when the target parking space determined to be parked from at least one parking-available parking space, the method includes the following steps:

step 401, determining a nearest parking space from at least one parking space which can be parked in the target vehicle.

Specifically, after at least one parking-available space around the target vehicle is monitored, based on a sensing result, position information of each parking-available space is obtained, and a distance difference value between each parking-available space and the target vehicle is calculated according to the position information of each parking-available space and the current position information of the target vehicle. After the distance difference value between each parking space and the target vehicle is calculated, acquiring the parking space with the minimum distance difference value, and determining the parking space with the minimum distance difference value as the nearest parking space to the target vehicle.

Step 402, determining whether the closest parking space to the target vehicle is smaller than a preset distance threshold, if yes, determining the closest parking space to the target vehicle as the target parking space.

The preset distance threshold is the maximum distance between the target vehicle and the nearest parking space of the target vehicle.

It will be appreciated that after determining the closest parking spot to the target vehicle, the target vehicle may not have an intention to park in the closest parking spot to the target vehicle, so it is necessary to further determine whether the target vehicle is driving away from the surroundings of the closest parking spot to the target vehicle.

Specifically, in response to determining the closest parking space to the target vehicle, acquiring a distance difference value between the closest parking space to the target vehicle and the target vehicle, acquiring a pre-stored preset distance threshold value, and judging whether the distance difference value between the closest parking space to the target vehicle and the target vehicle is always smaller than the preset distance threshold value within the preset time. If the distance difference value between the nearest parking space of the target vehicle and the target vehicle is determined to be smaller than the preset distance threshold value all the time within the preset time, the nearest parking space of the target vehicle is determined to be smaller than the preset distance threshold value, the target vehicle possibly has the intention of parking in the parking space, and the nearest parking space of the target vehicle is determined to be the target parking space.

It can be appreciated that if it is determined that the closest parking space to the target vehicle is greater than or equal to the preset distance threshold, the closest parking space to the target vehicle is not determined as the target parking space, and the target parking space corresponding to the target vehicle is redetermined based on the new travel path of the target vehicle.

According to the automatic parking pushing method, when a target parking space to be parked is determined from at least one parking space, the nearest parking space to a target vehicle is determined from the at least one parking space; and judging whether the nearest parking space to the target vehicle is smaller than a preset distance threshold value, and if so, determining the nearest parking space to the target vehicle as the target parking space. Since there may be a plurality of parking spaces around the target vehicle, the nearest parking space to the target vehicle can be determined by the position information of at least one parking space. And comparing the closest parking space with a preset distance threshold value, the parking space which the target vehicle wants to park in when having the intention to park in can be determined, so that whether the target vehicle has the intention to park in or not can be further judged based on the parking space which the target vehicle wants to park in when having the intention to park in.

As an optional embodiment, this embodiment further includes, on the basis of any one of the foregoing embodiments, the following steps:

step 501, it is monitored whether a target vehicle is started in a target parking space.

Specifically, in response to the target vehicle being in a starting state, sensing environmental information around the target vehicle through a vehicle sensor included in the target vehicle, judging whether the target vehicle is in a parking line corresponding to a target parking space, and if so, determining that the target vehicle is monitored to start in the target parking space.

In step 502, in response to detecting that the target vehicle is started in the target parking space, it is determined whether the target vehicle is parked into the target vehicle by the automatic parking system.

Specifically, after the fact that the target vehicle is started in the target parking space is monitored, an automatic parking record table is obtained, an automatic parking record closest to the current time is searched in the automatic parking record table, whether the parking space corresponding to the automatic parking record closest to the current time is the target parking space or not is judged, and if yes, the target vehicle is parked into the target vehicle through the automatic parking system.

The automatic parking record list is a record list of the target vehicle which is parked into the target vehicle through the automatic parking system. The automatic parking record may include: the parking space position information of the target vehicle automatically parking into the parking space, the time of the target vehicle automatically parking into the parking space, or other relevant information.

In step 503, in response to determining that the target vehicle is parked into the target vehicle through the automatic parking system, and monitoring that the target vehicle performs a plurality of delivery operations around the target parking space, a relative movement distance of the target vehicle during each delivery operation is determined.

The warehouse-out operation is a warehouse-kneading operation executed when the target vehicle is parked out of the target parking space.

Specifically, in response to determining that the target vehicle is parked into the target vehicle through the automatic parking system, and detecting that the target vehicle performs multiple delivery operations around the target parking space, determining a relative movement distance of the target vehicle during each delivery operation according to each delivery operation, the method is similar to step 202, and will not be repeated herein.

It will be appreciated that if it is determined that the target vehicle is not parked into the target vehicle by the automated parking system, then it is indicated that the target vehicle does not have a need to automatically park out the vehicle, and no further acquisition of the relevant operation of the target vehicle is required.

Step 504, judging whether the target vehicle has the intention of parking out of the target parking space according to the multiple delivery operations and the relative movement distances.

The implementation of step 504 is similar to that of step 203, and will not be described here again.

In step 505, automatic parking push information is generated in response to the intention of parking the target parking space, so as to output the automatic parking push information.

The automatic parking pushing information is generated by the automatic parking system according to the parking space information of the target parking space. The automatic parking push information may specifically include: a panoramic view of the target parking space, position information of the target parking space, and whether an automatic parking option is selected.

Specifically, after the intention of the target vehicle to park out of the target parking space is determined, automatic parking-out pushing information is generated based on the fact that the target vehicle is not completely located in the target parking space currently. The specific implementation method is similar to step 204, and will not be repeated here.

The automatic parking pushing method provided by the embodiment further comprises the following steps: monitoring whether a target vehicle is started in a target parking space; in response to monitoring that the target vehicle is started in the target parking space, judging whether the target vehicle is parked into the target vehicle through the automatic parking system; responding to the fact that the target vehicle is parked into the target vehicle through the automatic parking system, and monitoring that the target vehicle performs multiple ex-warehouse operations around a target parking space, and determining the relative movement distance of the target vehicle during each ex-warehouse operation; judging whether the target vehicle has the intention of parking out of the target parking space or not according to the multiple ex-warehouse operations and the relative movement distances; and generating automatic parking push information in response to the intention of parking the target parking space, so as to output the automatic parking push information. Since the target vehicle has an intention to park out of the target parking space using the automatic parking system when the target vehicle parks into the target parking space using the automatic parking system, by monitoring whether the target vehicle is started in the target parking space, it is possible to judge whether the target vehicle has the automatic parking intention or not under the condition that the target vehicle is determined to park into the target vehicle by the automatic parking system. When judging whether the automatic parking intention exists, whether the target vehicle has the intention of parking the target parking space or not can be judged based on the multiple times of parking operation and the relative movement distances by monitoring multiple times of parking operation of the target vehicle around the target parking space and determining the relative movement distance corresponding to each time of parking operation. After the intention of the target vehicle to park out of the target parking space is determined, the automatic parking push information can be output by generating the automatic parking push information. The user does not need to adjust the car body by himself and manually click the operating mechanism corresponding to the automatic parking function, the time for the user to park the car is shortened, and the parking experience of the user is improved.

As an optional embodiment, in this embodiment, based on the foregoing embodiment, the intention of judging whether the target vehicle has a target parking space according to the multiple delivery operations and the respective relative movement distances is further refined, and then step 504 specifically includes the following steps:

step 5041, comparing the relative movement distance corresponding to each ex-warehouse operation with a preset relative movement distance threshold, and determining a target ex-warehouse operation with the relative movement distance smaller than the preset relative movement distance threshold according to the comparison result.

In this embodiment, the implementation of step 5041 is similar to that of step 301, and will not be described here again.

It can be understood that the preset relative movement distance threshold corresponding to the ex-warehouse operation is a determined maximum relative movement distance allowed to be generated by the target vehicle according to the relative movement distance generated by the developer when the target vehicle performs the ex-warehouse operation with the purpose of parking in the big data. Therefore, the preset relative movement distance threshold corresponding to the ex-warehouse operation and the preset relative movement distance threshold corresponding to the kneading warehouse operation may be the same or may be different, which is not limited in this embodiment.

In step 5042, the target ex-warehouse operation is accumulated to obtain the target ex-warehouse operation number.

The implementation of step 5042 is similar to that of step 302, and will not be described herein.

Step 5043, comparing the target number of ex-warehouse operations with a preset number of ex-warehouse threshold.

The implementation of step 5043 is similar to that of step 303, and will not be described herein.

It can be understood that the preset number of times of delivery threshold is the number of times of target delivery operation performed by the developer in advance according to the number of times of target delivery operation performed by the vehicle in the big data when the vehicle has a parking intention, and the determined number of times of target delivery operation performed by the target vehicle is at least. Similarly, the preset number of times of leaving the warehouse and the preset number of times of kneading the warehouse may be the same or may be different, which is not limited in this embodiment.

In step 5044, when it is determined that the number of target delivery operations is greater than the preset delivery number threshold, it is determined that the target vehicle has an intention to be parked out of the target parking space.

The implementation of step 5044 is similar to that of step 304, and will not be described herein.

According to the automatic parking pushing method, when judging whether a target vehicle has an intention to park a target parking space or not according to multiple ex-warehouse operations and each relative movement distance, comparing the relative movement distance corresponding to each ex-warehouse operation with a preset relative movement distance threshold value, and determining a target ex-warehouse operation with the relative movement distance smaller than the preset relative movement distance threshold value according to a comparison result; accumulating and calculating the target ex-warehouse operation to obtain the target ex-warehouse operation times; comparing the target ex-warehouse operation times with a preset ex-warehouse times threshold; and when the number of the target delivery operation times is determined to be larger than the preset delivery time threshold, determining that the target vehicle has the intention of being parked out of the target parking space. Because the target vehicle can execute the multi-time delivery operation within a certain distance range in the target parking space when the target vehicle has the parking intention, after the target vehicle executes the delivery operation, the target delivery operation with the relative movement distance smaller than the preset relative movement distance threshold can be determined by comparing the relative movement distance corresponding to each delivery operation with the preset relative movement distance threshold. And the number of times of the target ex-warehouse operation can be determined by performing accumulation calculation on the target ex-warehouse operation. By comparing the target ex-warehouse operation times with the preset ex-warehouse operation times threshold, whether the times of the target ex-warehouse operation performed by the target vehicle is larger than the preset ex-warehouse operation times threshold or not can be determined, and when the times are determined to be larger than the preset ex-warehouse operation times threshold, the intention of the target vehicle to park the target parking space is determined, so that the parking intention of the target vehicle is accurately determined.

As an optional embodiment, the present embodiment further includes, on the basis of any one of the foregoing embodiments, after generating the automatic in-put push information to output the automatic in-put push information, the following steps:

and responding to the received automatic parking instruction triggered by the user, and controlling the vehicle to automatically park into the target parking space.

The automatic parking instruction is an instruction for instructing the automatic parking system to start an automatic parking function to execute automatic parking operation.

Specifically, based on the panoramic view of the target parking space, the position information of the target parking space and whether the automatic parking option is selected or not, the target vehicle control center sends the panoramic view of the target parking space, the position information of the target parking space and the automatic parking option to a display screen included in the target vehicle, and/or sends the automatic parking option to a voice control module included in the target vehicle control center, and a voice inquires of a driver whether the automatic parking option is selected or not. And the target vehicle control center responds to whether the user selects the automatic parking option through a component corresponding to the automatic parking option in the preset response time, and/or the user replies to select the automatic parking option in the preset response time by voice, so that the user is determined to trigger the automatic parking instruction, the automatic parking instruction is acquired, and the automatic parking instruction is sent to the automatic parking system. And the automatic parking system responds to receiving an automatic parking instruction triggered by a user and controls the vehicle to automatically park into the target parking space.

The preset response time is preset by a research and development personnel, and after the target vehicle control center automatically puts in the push information for output, the user is allowed to respond to the output response time within a certain time.

Optionally, the component corresponding to whether the automatic parking option is selected on the display screen may specifically be a yes/no confirmation component, and if yes, it is determined that the user selects the automatic parking option. The voice response may specifically be "yes", "agreeing to automatic parking", or the like, which may represent a field in which the user wishes to automatically park the vehicle.

It can be appreciated that if the user clicks the automatic parking option not selected in the component corresponding to the automatic parking option selected through the display screen within the preset response time, and/or the user replies with voice within the preset response time that the user does not select the automatic parking option. Or, the user does not perform any operation in the component corresponding to the automatic parking option through whether the component is selected and included in the display screen within the preset response time, and the user does not perform any voice reply within the preset response time. The user is determined to be unnecessary to automatically park in the vehicle by adopting the automatic parking function, and pushing is not performed any more.

According to the automatic parking pushing method, after automatic parking pushing information is generated to output the automatic parking pushing information, the automatic parking of the vehicle to the target parking space is controlled in response to receiving an automatic parking instruction triggered by a user. After pushing the automatic parking pushing information to the user, the user has the right of selecting the automatic parking vehicle, so that the user can determine that the user actually has the requirement of automatically parking the vehicle by receiving the automatic parking instruction triggered by the user and control the vehicle to automatically park in a target parking space, thereby better meeting the requirement of parking the vehicle by the user and further improving the parking experience of the user.

As an optional embodiment, the present embodiment further includes, on the basis of any one of the foregoing embodiments, after generating the automatic parking push information to output the automatic parking push information, the following steps:

and controlling the target vehicle to automatically park out of the target parking space in response to receiving an automatic parking instruction triggered by the user.

In this embodiment, the automatic parking instruction is an instruction instructing the target vehicle to start the automatic parking function to perform the automatic parking operation. Specifically, the automatic parking system controls the target vehicle to automatically park out of the target parking space in response to receiving the automatic parking instruction triggered by the user, and the method is similar to the method for controlling the vehicle to automatically park into the target parking space in response to receiving the automatic parking instruction triggered by the user, and is not repeated herein.

According to the automatic parking pushing method, after automatic parking pushing information is generated to output the automatic parking pushing information, the target vehicle is controlled to automatically park from the target parking space in response to receiving an automatic parking instruction triggered by a user. After pushing the automatic parking pushing information to the user, the user has the right of selecting the automatic parking vehicle, so that the user can determine the actual requirement of the automatic parking vehicle by receiving the automatic parking instruction triggered by the user and control the vehicle to automatically park out of the target parking space, thereby better meeting the requirement of the user for parking out of the vehicle and further improving the parking experience of the user.

Fig. 5 is a schematic structural diagram of an automatic parking pushing device according to an embodiment of the present application, as shown in fig. 5, where the automatic parking pushing device provided in the embodiment is located in an electronic device. The automatic parking pushing device 60 provided in the present embodiment includes: the determining module 61, the judging module 62, the generating module 63.

The determining module 61 is configured to determine, in response to detecting that at least one parking space available around the target vehicle is available, a target parking space to be parked from the at least one parking space available; the judging module 62 is configured to judge whether the target vehicle performs multiple library operations around the target parking space, and if so, determine a relative movement distance of the target vehicle during each library operation; the judging module 62 is further configured to judge whether the target vehicle has an intention to park in the target parking space according to the multiple kneading operations and the respective relative movement distances; the generating module 63 is configured to generate automatic parking push information in response to an intention of parking in the target parking space, so as to output the automatic parking push information.

The automatic parking pushing device provided in this embodiment may execute the method embodiment shown in fig. 2, and the specific implementation principle and technical effects are similar, and are not described herein again.

Optionally, the determining module 62 is specifically configured to, when determining whether the target vehicle has an intention to park in the target parking space according to the multiple kneading operations and the respective relative movement distances:

comparing the corresponding relative movement distance of each library operation with a preset relative movement distance threshold value, and determining a target library operation with the relative movement distance smaller than the preset relative movement distance threshold value according to a comparison result; performing accumulated calculation on the target kneading operation to obtain the target kneading operation times; comparing the target number of times of kneading warehouse operation with a preset threshold value of times of kneading warehouse; and when the number of times of the target pool operation is determined to be larger than the preset pool number threshold, determining that the target vehicle has the intention of being parked in the target parking space.

Optionally, the determining module 61 is specifically configured to, when determining the target parking space to be parked from the at least one parking space that can be parked:

determining the nearest parking space from at least one parking space which can be parked into the target vehicle; and judging whether the nearest parking space to the target vehicle is smaller than a preset distance threshold value, and if so, determining the nearest parking space to the target vehicle as the target parking space.

Optionally, the automatic parking control device provided in this embodiment further includes: and a monitoring module.

The monitoring module is used for monitoring whether the target vehicle is started in the target parking space or not; the judging module 62 is further configured to judge whether the target vehicle is parked into the target vehicle through the automatic parking system in response to the monitoring module monitoring that the target vehicle is started in the target parking space; the determining module 61 is further configured to determine a relative movement distance of the target vehicle during each of the delivery operations in response to determining that the target vehicle is parked into the target vehicle through the automatic parking system, and the monitoring module monitors that the target vehicle performs the delivery operations multiple times around the target parking space; the judging module 62 is further configured to judge whether the target vehicle has an intention to park out the target parking space according to the multiple parking operations and the respective relative movement distances; the generating module 63 is further configured to generate automatic parking push information in response to an intention of parking the target parking space, so as to output the automatic parking push information.

Optionally, the determining module 62 is specifically configured to, when determining whether the target vehicle has an intention to park out of the target parking space according to the multiple parking operations and the respective relative movement distances:

Comparing the corresponding relative movement distance of each ex-warehouse operation with a preset relative movement distance threshold value, and determining a target ex-warehouse operation with the relative movement distance smaller than the preset relative movement distance threshold value according to a comparison result; accumulating and calculating the target ex-warehouse operation to obtain the target ex-warehouse operation times; comparing the target ex-warehouse operation times with a preset ex-warehouse times threshold; and when the number of the target delivery operation times is determined to be larger than the preset delivery time threshold, determining that the target vehicle has the intention of being parked out of the target parking space.

Optionally, the automatic parking pushing device provided in this embodiment further includes: and a control module.

The control module is configured to generate automatic parking pushing information by using the generating module 63, and then, after outputting the automatic parking pushing information, control the vehicle to automatically park into the target parking space in response to receiving an automatic parking instruction triggered by the user.

Optionally, the control module is further configured to generate the automatic parking push information by using the generating module 63, and after outputting the automatic parking push information, control the target vehicle to automatically park from the target parking space in response to receiving an automatic parking instruction triggered by the user.

The automatic parking pushing device provided in this embodiment may also execute the method embodiments shown in fig. 3 to 4, and specific implementation principles and technical effects are similar, and are not repeated here.

Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application, as shown in fig. 6, an electronic device 70 according to the present embodiment includes: a processor 71 and a memory 72 communicatively coupled to the processor.

Wherein the memory 72 stores computer-executable instructions; the processor 71 executes computer-executable instructions stored in the memory 72 to implement the auto park pushing method provided in any one of the embodiments described above. The related descriptions and effects corresponding to the steps in the drawings can be understood correspondingly, and are not repeated here.

Wherein the program may comprise program code comprising computer-executable instructions. The memory 72 may comprise high-speed RAM memory or may further comprise non-volatile memory (non-volatile memory), such as at least one disk memory.

In this embodiment, the memory 72 and the processor 71 are connected via a bus. The bus may be an industry standard architecture (Industry Standard Architecture, abbreviated ISA) bus, an external device interconnect (Peripheral Component Interconnect, abbreviated PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, abbreviated EISA) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in fig. 6, but not only one bus or one type of bus.

The embodiment of the application also provides a computer readable storage medium, wherein computer executable instructions are stored in the computer readable storage medium, and the computer executable instructions are used for realizing the automatic parking pushing method provided by any one of the embodiments when being executed by a processor. For example, the computer readable storage medium may be ROM, random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.

The embodiment of the application also provides a computer program product, which comprises a computer program, and the computer program realizes the automatic parking pushing method provided by any one of the embodiments when being executed by a processor.

It should be noted that, for simplicity of description, the foregoing method embodiments are all described as a series of acts, but it should be understood by those skilled in the art that the present application is not limited by the order of acts described, as some steps may be performed in other orders or concurrently in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are alternative embodiments, and that the acts and modules referred to are not necessarily required for the present application.

It should be further noted that, although the steps in the flowchart are sequentially shown as indicated by arrows, the steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least a portion of the steps in the flowcharts may include a plurality of sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, the order in which the sub-steps or stages are performed is not necessarily sequential, and may be performed in turn or alternately with at least a portion of the sub-steps or stages of other steps or other steps.

It will be appreciated that the device embodiments described above are merely illustrative and that the device of the application may be implemented in other ways. For example, the division of the units/modules in the above embodiments is merely a logic function division, and there may be another division manner in actual implementation. For example, multiple units, modules, or components may be combined, or may be integrated into another system, or some features may be omitted or not performed.

In addition, each functional unit/module in each embodiment of the present application may be integrated into one unit/module, or each unit/module may exist alone physically, or two or more units/modules may be integrated together, unless otherwise specified. The integrated units/modules described above may be implemented either in hardware or in software program modules.

The integrated units/modules, if implemented in hardware, may be digital circuits, analog circuits, etc. Physical implementations of hardware structures include, but are not limited to, transistors, memristors, and the like. The artificial intelligence processor may be any suitable hardware processor, such as CPU, GPU, FPGA, DSP and ASIC, etc., unless otherwise specified. Unless otherwise indicated, the storage elements may be any suitable magnetic or magneto-optical storage medium, such as resistive Random Access Memory RRAM (Resistive Random Access Memory), dynamic Random Access Memory DRAM (Dynamic Random Access Memory), static Random Access Memory SRAM (Static Random-Access Memory), enhanced dynamic Random Access Memory EDRAM (Enhanced Dynamic Random Access Memory), high-Bandwidth Memory HBM (High-Bandwidth Memory), hybrid Memory cube HMC (Hybrid Memory Cube), etc.

The integrated units/modules may be stored in a computer readable memory if implemented in the form of software program modules and sold or used as a stand-alone product. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in whole or in part in the form of a software product stored in a memory, comprising several instructions for causing a computer device (which may be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method of the various embodiments of the present application. And the aforementioned memory includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments. The technical features of the foregoing embodiments may be arbitrarily combined, and for brevity, all of the possible combinations of the technical features of the foregoing embodiments are not described, however, all of the combinations of the technical features should be considered as being within the scope of the disclosure.

Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

It is to be understood that the application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims

1. An automatic parking pushing method, characterized in that the method comprises the following steps:

in response to monitoring that at least one parking space exists around the target vehicle, determining a target parking space to be parked in from the at least one parking space;

2. The method of claim 1, wherein determining whether the target vehicle has an intention to park in the target parking space based on the plurality of kneading operations and respective relative movement distances comprises:

comparing the relative movement distance corresponding to each library operation with a preset relative movement distance threshold value, and determining a target library operation of which the relative movement distance is smaller than the preset relative movement distance threshold value according to a comparison result;

performing accumulated calculation on the target pool operation to obtain target pool operation times;

comparing the target kneading frequency with a preset kneading frequency threshold;

and when the target pool number of operations is determined to be larger than the preset pool number threshold, determining that the target vehicle has an intention of being parked in the target parking space.

3. The method of claim 1, wherein the determining a target parking space to be parked from the at least one dockable parking space comprises:

Determining the nearest parking space from the at least one parking space which can be parked into the target vehicle;

and judging whether the nearest parking space to the target vehicle is smaller than a preset distance threshold value, and if so, determining the nearest parking space to the target vehicle as a target parking space.

4. The method according to claim 1, wherein the method further comprises:

monitoring whether a target vehicle is started in a target parking space;

in response to monitoring that the target vehicle is started in the target parking space, judging whether the target vehicle is parked into the target vehicle through an automatic parking system;

responsive to determining that the target vehicle is parked into the target vehicle through the automatic parking system, and monitoring that the target vehicle performs a plurality of ex-warehouse operations around the target parking space, determining a relative movement distance of the target vehicle during each of the ex-warehouse operations;

judging whether the target vehicle has the intention of parking out of the target parking space or not according to the multiple-time ex-warehouse operation and each relative movement distance;

and generating automatic parking push information in response to the intention of parking the target parking space, so as to output the automatic parking push information.

5. The method of claim 4, wherein determining whether the target vehicle has an intention to park out of the target parking space based on the plurality of out-of-stock operations and the respective relative movement distances comprises:

Comparing the corresponding relative movement distance of each ex-warehouse operation with a preset relative movement distance threshold value, and determining a target ex-warehouse operation of which the relative movement distance is smaller than the preset relative movement distance threshold value according to a comparison result;

performing accumulation calculation on the target ex-warehouse operation to obtain target ex-warehouse operation times;

comparing the target ex-warehouse operation times with the preset ex-warehouse times threshold;

and when the target ex-warehouse operation times are determined to be larger than the preset ex-warehouse times threshold, determining that the target vehicle has the intention of parking out of the target parking space.

6. The method of any of claims 1-5, wherein after the generating the automatic in-flight information to output the automatic in-flight information, the method further comprises:

and responding to the received automatic parking instruction triggered by the user, and controlling the target vehicle to automatically park into the target parking space.

7. The method of any of claims 1-5, wherein after generating the auto-parking-out push information to output the auto-parking-out push information, further comprising:

and responding to the received automatic parking instruction triggered by the user, and controlling the target vehicle to be automatically parked out of the target vehicle.

8. An automatic parking pushing device, characterized in that the automatic parking pushing device comprises:

9. An electronic device, comprising: a processor, and a memory communicatively coupled to the processor;

the memory stores computer-executable instructions;

the processor executes computer-executable instructions stored in the memory to implement the method of any one of claims 1 to 7.

10. A computer readable storage medium having stored therein computer executable instructions which when executed by a processor are adapted to carry out the method of any one of claims 1 to 7.