TWI740455B - Parking warning method, vehicle-mounted device and readable storage medium - Google Patents

Abstract

The present invention provides a parking warning method which is applied to a vehicle-mounted device. The method includes: identifying image features of a traffic marking corresponding to a parking position of a vehicle; determining a category of the parking position based on the image features of the traffic marking; and transmitting a warning according to a preset prompting method when the vehicle is determined to be parked illegally based on the category of the parking position. The invention also provides a vehicle-mounted device and a readable storage medium for implementing the parking warning method. The invention can identify whether the vehicle is parked illegally according to the traffic marking, and can prompt when the vehicle is parked illegally to avoid the vehicle being towed away.

Description

Parking warning method, vehicle-mounted device and readable storage medium

The invention relates to the technical field of traffic management, in particular to a parking warning method, a vehicle-mounted device and a readable storage medium.

In the conventional technology, the driver often needs to temporarily stop beside the road. However, parking in an area where parking is not allowed will cause the vehicle to be towed and fined.

In view of the above, it is necessary to provide a parking warning method, a vehicle-mounted device and a readable storage medium, which can determine whether the vehicle is parked in an area where parking is not allowed by identifying the image characteristics of the traffic marking corresponding to the location of the vehicle, and When a vehicle is parked in an area that is not allowed to park, a warning is issued in a preset manner, which effectively solves the situation of the vehicle being towed and fined due to the driver parking in the area that is not allowed to park in the prior art.

The parking warning method includes: recognizing the image feature of the traffic marking corresponding to the parking position of the vehicle; determining the category of the parking position of the vehicle based on the image feature of the traffic marking; and when based on the vehicle When the category of the parking position determines that the vehicle parks illegally, a warning is issued in accordance with the preset prompt mode.

Preferably, the recognizing the image feature of the traffic marking corresponding to the parking position of the vehicle includes: using a positioning device to locate the parking position of the vehicle on a preset high-precision map; and from the preset high-precision The map obtains the image features of the traffic marking corresponding to the parking position of the vehicle, wherein the Image features include color features or shape features.

Preferably, the positioning device is a GPS and a gyroscope.

Preferably, the recognizing the image feature of the traffic marking corresponding to the parking position of the vehicle includes: using a camera to take an image, the image including the traffic marking corresponding to the parking position of the vehicle; and using the image The recognition algorithm recognizes the image feature of the traffic marking from the image, wherein the image feature includes a color feature or a shape feature.

Preferably, the method further includes: determining that the parking position of the vehicle is a legal parking position when the traffic marking corresponding to the parking position of the vehicle is not recognized; in the method, the method is based on the traffic marking Determining the category of the parking position of the vehicle by the image features includes: when the color feature of the traffic marking is red, determining that the parking position of the vehicle is a no-parking position; when the color feature of the traffic marking is When it is white, it is determined that the parking position of the vehicle is a legal parking position; and when the color feature of the traffic marking is yellow, it is determined that the parking position of the vehicle is a temporary parking position.

Preferably, the method further includes: when the parking position of the vehicle is a temporary parking position, detecting the parking parameter of the vehicle, and determining whether the vehicle is parked illegally based on the parking parameter of the vehicle, wherein The parking parameters include the time period of the vehicle at the parking position, the parking time of the vehicle, and whether the engine of the vehicle is turned off.

Preferably, the method further includes: when it is determined that the vehicle is parking illegally, storing relevant information of the vehicle, the relevant information including the driver information of the vehicle, the license plate number of the vehicle, and the parking of the vehicle Location, time of illegal parking.

Preferably, the method further includes: analyzing the parking violations of all vehicles on a regular basis based on the stored related information of all vehicles, including: counting parking locations corresponding to the most number of violations, and counting the driving numbers corresponding to the most/least number of violations. member.

The computer-readable storage medium stores at least one instruction, and when the at least one instruction is executed by a processor, the parking warning method is implemented.

The vehicle-mounted device includes a memory and at least one processor, and the memory stores to One instruction is missing, and the parking warning method is implemented when the at least one instruction is executed by the at least one processor.

Compared with the prior art, the parking warning method, the on-board device and the readable storage medium can identify whether to park illegally according to traffic markings, and prompt when parking illegally, so as to avoid situations such as the car being towed away when parking illegally.

100: Vehicle

3: On-board device

32: processor

31: Storage

30: parking warning system

301: Identification Module

302: Judgment Module

303: Execution Module

34: camera

35: display screen

36: positioning device

39: High-precision map

FIG. 1 is a structural diagram of a vehicle-mounted device according to a preferred embodiment of the present invention.

Fig. 2 is a functional module diagram of a parking warning system according to a preferred embodiment of the present invention.

Fig. 3 is a flowchart of a parking warning method according to a preferred embodiment of the present invention.

Figure 4 illustrates traffic markings.

In order to be able to understand the above objectives, features and advantages of the present invention more clearly, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other if there is no conflict.

In the following description, many specific details are explained in order to fully understand the present invention. The described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments, and are not intended to limit the present invention.

Refer to FIG. 1, which is a structural diagram of a vehicle-mounted device provided by a preferred embodiment of the present invention.

In this embodiment, the in-vehicle device 3 is installed on the vehicle 100. The vehicle-mounted device 3 may also be called As a vehicle-mounted computer or handheld communication device, it includes a storage 31, at least one processor 32, a camera 34, a display screen 35, and a positioning device 36 that are electrically connected to each other.

Those skilled in the art should understand that the structure of the vehicle-mounted device 3 shown in FIG. 1 does not constitute a limitation of the embodiment of the present invention. The vehicle-mounted device 3 may also include more or less other hardware or software than that of FIG. Or different component arrangements.

It should be noted that the in-vehicle device 3 is only an example, and other existing or future in-vehicle devices that can be adapted to the present invention should also be included in the protection scope of the present invention and included here by reference.

In some embodiments, the storage 31 can be used to store program codes and various data of a computer program. For example, the storage 31 can be used to store the parking warning system 30 and the high-precision map 39 installed in the vehicle-mounted device 3, and realize high-speed and automatic storage of programs or data during the operation of the vehicle-mounted device 3. Pick. The storage 31 may include read-only memory (Read-Only Memory, ROM), programmable read-only memory (Programmable Read-Only Memory, PROM), erasable programmable read-only memory (Erasable Programmable Read-Only Memory (EPROM), One-time Programmable Read-Only Memory (OTPROM), Electronically-Erasable Programmable Read-Only Memory (Electrically-Erasable Programmable Read-Only Memory, EEPROM), Compact Disc Read-Only Memory (CD-ROM) or other optical disk storage, magnetic disk storage, tape storage, or any other non-volatile computer that can be used to carry or store data Readable storage medium.

In some embodiments, the at least one processor 32 may be composed of an integrated circuit. For example, it can be composed of a single packaged integrated circuit, or it can be composed of multiple packaged integrated circuits with the same function or different functions, including one or more central processing units (CPU), micro-processing Combinations of processors, digital word processing chips, graphics processors, and various control chips. The at least one processor 32 is the control core (Control Unit) of the in-vehicle device 3, which uses various interfaces and lines to connect the various components of the entire in-vehicle device 3, and executes programs or modules stored in the storage 31 Or instructions, and call the data stored in the storage 31 to execute the vehicle-mounted device 3 various functions and processing data, for example, the function of warning for parking (for details, please refer to the introduction of Figure 3 later).

In this embodiment, the camera 34 can be installed on the chassis of the vehicle 100 or around the vehicle 100, so that the camera 34 can capture the traffic markings of the vehicle 100 at the parking position. Index Line) image.

In this embodiment, the traffic marking refers to a line on the edge of a lane to convey traffic information such as guidance, restriction, and warning to traffic participants.

The display screen 35 may be a touch display screen for displaying various data of the in-vehicle device 3, such as a user interface for displaying a high-definition map 39. In this embodiment, the high-precision map 39 may be a Baidu high-precision map or other maps such as a Google high-precision map.

In this embodiment, the high-precision map 39 indicates the traffic markings corresponding to each road, the color of each traffic marking, and other characteristics. It should be noted that the high-precision map 39 may also indicate the lanes included in each road, the intersections included in each road, the traffic rules of each intersection, and whether each intersection is an accident-prone intersection, and so on.

In one embodiment, the traffic rules include restrictions on the turning of vehicles on each road at each intersection. In other embodiments, the traffic rules further include restrictions on vehicle models (such as large vehicles, small vehicles), weight, height, length, etc., of vehicles on each road at each intersection.

In one embodiment, the high-precision map 39 records the number of traffic accidents that have occurred at each intersection, and defines whether each intersection is an accident-prone intersection according to the number of traffic accidents that have occurred.

In this embodiment, the positioning device 36 may be used to locate the current position of the vehicle 100 (such as latitude and longitude information). In an embodiment, the positioning device 36 may be a GPS and a gyroscope. In one embodiment, the positioning device 36 may be a global positioning system (Global Positioning System, referred to as GPS), an assisted global positioning system (Assisted Global Positioning System, referred to as AGPS), or BeiDou Navigation Satellite Navigation System (BeiDou Navigation Satellite System). System, BDS), or one or a combination of GLONASS (GLOBAL NAVIGATION SATELLITE SYSTEM, GLONASS).

Refer to FIG. 2, which is a functional module diagram of a parking warning system according to a preferred embodiment of the present invention. In this embodiment, the parking warning system 30 may include one or more modules, and the one or more modules are stored in the storage 31 and run by at least one or more processors (in this embodiment, The processor 32) executes to realize the function of warning the parking (for details, please refer to the introduction of FIG. 3 later).

In this embodiment, the parking warning system 30 can be divided into multiple modules according to the functions it performs. Referring to FIG. 2, the multiple modules include an identification module 301, a judgment module 302, and an execution module 303. The module referred to in the present invention refers to a series of computer-readable instruction segments that can be executed by at least one processor (such as the processor 32) and can complete fixed functions, which are stored in a memory (such as the on-board device 3). Storage 31).

In this embodiment, the recognition module 301 can recognize the image feature of the traffic marking corresponding to the parking position of the vehicle 100. The judgment module 302 determines the type of the parking position of the vehicle 100 based on the image characteristics of the traffic marking; and determines whether the vehicle 100 is parking illegally based on the type of the parking position of the vehicle 100. When it is determined that the vehicle 100 has parked illegally based on the category of the parking position of the vehicle 100, the execution module 303 issues a warning according to a preset prompt manner. In this way, it is avoided that the driver of the vehicle 100 is parked in an area where parking is not allowed to cause the vehicle 100 to be towed and fined.

It should be noted that in this embodiment, the functions of the identification module 301, the judgment module 302, and the execution module 303 will be described in detail later in conjunction with FIG. 3.

In this embodiment, the integrated unit implemented in the form of a software function module can be stored in a non-volatile readable storage medium. The above-mentioned software function module includes one or more computer-readable instructions, and the vehicle-mounted device 3 or a processor (processor) implements part of the method of each embodiment of the present invention by executing the one or more computer-readable instructions. For example, Figure 3 shows the method of warning for parking.

In a further embodiment, with reference to FIG. 2, the at least one processor 32 can execute the operating device of the vehicle-mounted device 3 and various installed applications (such as the parking warning system 30), program codes, and the like.

In a further embodiment, the computer program code is stored in the storage 31, and the at least one processor 32 can call the code stored in the storage 31 to perform related functions. For example, each module of the parking warning system 30 in FIG. 2 is a program code stored in the memory 31 and executed by the at least one processor 32, so as to realize the functions of the various modules. To achieve the purpose of warning parking (see the description of Figure 3 below for details).

In one embodiment of the present invention, the storage 31 stores one or more computer-readable instructions, and the one or more computer-readable instructions are executed by the at least one processor 32 to realize parking warning the goal of. Specifically, the specific implementation method of the at least one processor 32 to the above-mentioned computer-readable instructions is detailed in the description of FIG. 3 below.

Fig. 3 is a flowchart of a parking warning method provided by a preferred embodiment of the present invention.

In this embodiment, the parking warning method can be applied to the vehicle-mounted device 3. For the vehicle-mounted device 3 that needs to perform a parking warning, the vehicle-mounted device 3 can be directly integrated with the parking warning provided by the method of the present invention. Function, or run on the vehicle-mounted device 3 in the form of a software development kit (Software Development Kit, SDK).

As shown in FIG. 3, the parking warning method specifically includes the following steps. According to different needs, the order of the steps in the flowchart can be changed, and some steps can be omitted.

Step S1: The recognition module 301 recognizes the image feature of the traffic marking corresponding to the parking position of the vehicle 100.

In the first embodiment, identifying the image feature of the traffic marking corresponding to the parking position of the vehicle 100 includes: using the positioning device 36 to locate the parking position of the vehicle 100 on a preset high-precision map 39 And obtain the image features of the traffic markings corresponding to the parking position of the vehicle 100 from the preset high-precision map 39, where the image features include, but are not limited to, color features and/or shapes feature.

In the second embodiment, recognizing the image characteristics of the traffic marking corresponding to the parking position of the vehicle 100 includes: using the camera 34 to take an image, and the image includes the traffic corresponding to the parking position of the vehicle 100. Marking; and using an image recognition algorithm to identify the traffic marking from the image The image features of, wherein the image features include, but are not limited to, color features and/or shape features.

In this embodiment, the use of an image recognition algorithm to identify the image features of the traffic marking from the image includes: using a template matching method to identify the traffic marking from the captured image; The image of the traffic marking is intercepted in the image; the RGB value of each image element point of the image of the intercepted traffic marking is calculated; the color of the traffic marking is determined according to the RGB value of all the image element points. For example, the recognition module 301 can preset and define the range of RGB values corresponding to various colors; determine the color of each pixel point according to the RGB value of each pixel point; change the color corresponding to the most pixel points As the color of the traffic marking.

In this embodiment, various styles of traffic markings (such as white lines, red lines, yellow lines, etc.) can be used as templates respectively.

It should be noted that in other embodiments, the image feature of the traffic marking corresponding to the parking position of the vehicle 100 can be identified according to the first embodiment; if the parking position of the vehicle 100 cannot be identified According to the second embodiment, the image feature of the traffic marking corresponding to the parking position of the vehicle 100 is recognized.

In addition, it should be noted that due to the differences in the driving directions stipulated by the traffic rules of different countries, some drive on the right and some drive on the left. Here, if the prescribed driving direction is to drive to the right, then the traffic marking corresponding to the parking position of the vehicle 100 refers to the marking on the right side of the lane where the vehicle 100 is located. On the contrary, if the prescribed driving direction is to drive to the left, then the traffic marking corresponding to the parking position of the vehicle 100 refers to the marking on the left side of the lane where the vehicle 100 is located. That is, the traffic marking corresponding to the parking position of the vehicle 100 is related to the driving direction specified by the traffic rules.

For example, referring to FIG. 4, the vehicle 100 is currently parked in the lane d. If the driving direction specified by the traffic rules is to drive to the right, then the traffic marking corresponding to the parking position of the vehicle 100 refers to d1. Conversely, if the driving direction specified by the traffic rules is to drive to the left, then the traffic marking corresponding to the parking position of the vehicle 100 refers to d2.

In one embodiment, when the identification module 301 determines that the vehicle 100 is parked, it identifies the vehicle The image feature of the traffic marking corresponding to the parking position of 100. In other words, the parking position may be defined as the current location of the vehicle 100 on the premise that the vehicle 100 is determined to be parked.

Specifically, when the speed of the vehicle 100 is 0, the identification module 301 determines that the vehicle 100 is parked. In this embodiment, the identification module 301 may use a speed sensor (not shown in the figure) to sense the speed of the vehicle 100.

Step S2: The judgment module 302 determines the category of the parking position of the vehicle 100 based on the image characteristics of the traffic marking.

In one embodiment, the determining the category of the parking position of the vehicle 100 based on the image characteristics of the traffic marking includes: when the color characteristic of the traffic marking is red, determining the parking of the vehicle 100 The position is a no-parking position; when the color characteristic of the traffic marking is white, it is determined that the parking position of the vehicle 100 is a legal parking position; and when the color characteristic of the traffic marking is yellow, the vehicle is determined The parking position of 100 is a temporary parking position.

In one embodiment, when the traffic marking corresponding to the parking position of the vehicle 100 is not identified in step S1, the judgment module 302 determines that the parking position of the vehicle 100 is a legal parking position.

Step S3: The judgment module 302 determines whether the vehicle 100 is parked illegally based on the category of the parking position of the vehicle 100. When it is determined that the vehicle 100 has parked illegally, step S4 is executed. When it is determined that the vehicle 100 has not parked illegally, the process ends.

In this embodiment, the determining whether the vehicle 100 is parked illegally based on the category of the parking position of the vehicle 100 includes: when the parking position of the vehicle 100 is a no-parking position, determining that the vehicle 100 is parked illegally; When the parking position of the vehicle 100 is a legal parking position, it is determined that the vehicle 100 is not Parking illegally; and when the parking position of the vehicle 100 is a temporary parking position, detecting the parking parameters of the vehicle 100, and determining the vehicle based on the parking parameters of the vehicle 100 and the parking rules corresponding to the temporary parking position 100 whether parking violations. Wherein, the parking parameters of the vehicle 100 include, but are not limited to, the time period of the vehicle 100 at the parking position, the parking time of the vehicle, and whether the engine of the vehicle is turned off.

Specifically, the parking rules corresponding to the temporary parking position include restrictions on the parking time period and parking duration, and restrictions on the vehicle's engine not being able to turn off during temporary parking. Therefore, when the vehicle 100 is in the temporary parking position, the judgment module 302 can determine whether the vehicle 100 is parked illegally according to the parking parameters of the vehicle 100 and the parking rule corresponding to the temporary parking position. For example, when the current time belongs to the restricted parking period of the temporary parking location, it may be determined that the vehicle 100 is parking illegally.

Step S4: When it is determined that the vehicle 100 is parking illegally based on the category of the parking position of the vehicle 100, the execution module 303 issues a warning according to a preset prompt mode.

In one embodiment, the preset prompting manner may refer to displaying text information on the display screen 35, and using the text information to prompt the driver of the vehicle 100 to park illegally.

In other embodiments, the preset prompt manner may further include prompting the driver of the vehicle 100 to park illegally in a manner of voice broadcast.

In one embodiment, when it is determined that the vehicle 100 is parking illegally, the execution module 303 stores relevant information of the vehicle 100. For example, the relevant information of the vehicle 100 can be stored in a server that is communicatively connected with the in-vehicle device 3, and the server can be a server of a vehicle management company such as a taxi company or a logistics company. This facilitates the management of each vehicle by the vehicle management company. Of course, the execution module 303 can also store relevant information of the vehicle 100 in the storage 31 of the vehicle-mounted device 3.

In one embodiment, the related information includes driver information of the vehicle 100 (such as the driver’s name, driver’s license number, etc.), the license plate number of the vehicle 100, the parking position of the vehicle 100, and parking violations. The time (that is, the current time).

In one embodiment, the execution module 303 or the server may also periodically analyze the parking violations of all vehicles based on the stored related information of all vehicles, including, but not limited to: statistics corresponding to the most frequent parking violations The parking position and statistics correspond to the drivers who have parked the most/least violations.

The execution module 303 or the server may also implement rewards and punishments to the driver based on the regular analysis results in combination with a reward and punishment mechanism. For example, the amount of bonus is deducted for the driver who parks the most illegally in a predetermined period of time (such as within 1 month).

In the several embodiments provided by the present invention, it should be understood that the disclosed device and method may be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the modules is only a logical function division, and there may be other division methods in actual implementation.

The modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical units, that is, they may be located in one place, or they may be distributed to multiple networks Unit. Some or all of the modules may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

In addition, the functional modules in the various embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The above-mentioned integrated unit can be realized either in the form of hardware, or in the form of hardware plus software functional modules.

For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description, and therefore it is intended to fall within the claims. All changes within the meaning and scope of the equivalent elements of are included in the present invention. Any reference signs in the request shall not be regarded as the request item involved in the restriction. In addition, it is obvious that the word "including" does not exclude other elements or, and the singular does not exclude the plural. Multiple units or devices stated in the device request can also be A unit or device is realized by software or hardware. Words such as first and second are used to denote names, but do not denote any specific order.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the above preferred embodiments, those of ordinary skill in the art should understand that the The technical solution is modified or equivalently replaced without departing from the spirit and scope of the technical solution of the present invention.

Claims (9)

A parking warning method, wherein the method includes: using a preset high-precision map to identify the image features of the traffic marking corresponding to the parking position of the vehicle, and when the high-precision map cannot be used to identify the parking position of the vehicle When the corresponding image features of the traffic markings, the camera is used to identify the image features of the traffic markings corresponding to the parking position of the vehicle; wherein, the image features include color features, and the use of the camera Recognizing the image features of the traffic marking corresponding to the parking position of the vehicle includes: using the camera to take an image, the image including the traffic marking corresponding to the parking position of the vehicle; Identify the traffic markings in the image; intercept the image of the traffic markings from the captured image; calculate the RGB value of each pixel point of the intercepted image of the traffic marking; determine according to the RGB value of all the pixel points The color of the traffic marking, wherein the determining the color of the traffic marking according to the RGB values of all the graphic element points includes: predefining the value range of the RGB value corresponding to each color; according to each graphic element The RGB value of the point determines the color of each primitive point; the color corresponding to the most primitive points is used as the color of the traffic marking; the category of the parking position of the vehicle is determined based on the image characteristics of the traffic marking And when it is determined that the vehicle is parking illegally based on the category of the parking position of the vehicle, a warning is issued in accordance with a preset prompt mode. The parking warning method according to claim 1, wherein the using a preset high-precision map to identify the image feature of the traffic marking corresponding to the parking position of the vehicle includes: using a positioning device to set the preset high-precision Locating the parking position of the vehicle on the map; and obtaining the image feature of the traffic marking corresponding to the parking position of the vehicle from the preset high-precision map, wherein the image feature further includes a shape feature. The parking warning method according to claim 2, wherein the positioning device is a GPS and a gyroscope. The parking warning method according to claim 1 or 2, wherein the method further includes: When the traffic marking corresponding to the parking position of the vehicle is not recognized, the parking position of the vehicle is determined to be a legal parking position; in this method, the vehicle is determined based on the image characteristics of the traffic marking The category of the parking position includes: when the color feature of the traffic marking is red, the parking position of the vehicle is determined to be a no-parking position; when the color feature of the traffic marking is white, the vehicle is determined to be The parking location is a legal parking location; and when the color feature of the traffic marking is yellow, it is determined that the parking location of the vehicle is a temporary parking location. The parking warning method according to claim 4, wherein the method further includes: when the parking position of the vehicle is a temporary parking position, detecting the parking parameter of the vehicle, and determining the vehicle based on the parking parameter of the vehicle Whether to park illegally, wherein the parking parameters of the vehicle include the time period of the vehicle at the parking position, the parking time of the vehicle, and whether the engine of the vehicle is turned off. The parking warning method according to claim 5, wherein the method further includes: when it is determined that the vehicle is parking illegally, storing relevant information of the vehicle, the relevant information including the driver information of the vehicle, the The license plate number of the vehicle, the parking location of the vehicle, and the time of illegal parking. The parking warning method according to claim 6, wherein the method further includes: regularly analyzing the violation parking situation of all vehicles based on the stored related information of all vehicles, including: counting the parking locations corresponding to the most violation parking times, Count the drivers with the most/least number of parking violations. A computer-readable storage medium, wherein the computer-readable storage medium stores At least one instruction, when the at least one instruction is executed by the processor, implements the parking warning method according to any one of request items 1 to 7. An in-vehicle device, wherein the in-vehicle device includes a storage and at least one processor, and at least one instruction is stored in the storage. The parking warning method of any one of.

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