WO2021098254A1 - 一种自动泊车交互方法及装置 - Google Patents

一种自动泊车交互方法及装置 Download PDF

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Publication number
WO2021098254A1
WO2021098254A1 PCT/CN2020/103389 CN2020103389W WO2021098254A1 WO 2021098254 A1 WO2021098254 A1 WO 2021098254A1 CN 2020103389 W CN2020103389 W CN 2020103389W WO 2021098254 A1 WO2021098254 A1 WO 2021098254A1
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Prior art keywords
parking
parking space
vehicle
target virtual
interactive interface
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PCT/CN2020/103389
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English (en)
French (fr)
Inventor
高常宇
沈玉杰
袁峻
Original Assignee
华为技术有限公司
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Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Priority to JP2022529407A priority Critical patent/JP2023503440A/ja
Priority to EP20890469.8A priority patent/EP4049908A4/en
Publication of WO2021098254A1 publication Critical patent/WO2021098254A1/zh
Priority to US17/748,558 priority patent/US20220274589A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0481—Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance
    • G06F3/04817—Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance using icons
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0484—Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
    • G06F3/04845—Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range for image manipulation, e.g. dragging, rotation, expansion or change of colour
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0487—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser
    • G06F3/0488—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures

Definitions

  • This application relates to the field of intelligent driving, and in particular to an automatic parking interactive method and device.
  • the automatic parking system is already a component of the important functions of Advanced Driver Assistant Systems (ADAS) or Automated Driving System (ADS), and is also one of the first basic functions to be implemented.
  • ADAS Advanced Driver Assistant Systems
  • ADS Automated Driving System
  • an embodiment of the present application provides an automatic parking interactive method.
  • the vehicle icon is adsorbed on the target virtual parking space, so that the vehicle icon matches the target virtual parking space, and the target virtual parking space is the position relationship between the moving vehicle icon and the moving vehicle icon in the parking interactive interface that satisfies a preset condition
  • the virtual parking space ; generating a parking response instruction so that the automatic parking system controls the vehicle to be parked to drive into the actual parking space indicated by the target virtual parking space.
  • detecting the touch operation acting on the parking interactive interface includes: detecting the touch operation acting on the parking interactive interface, that is, detecting the touch area on the display screen corresponding to the parking interactive interface. Click the operation, and move the vehicle icon to the click position of the click operation in the parking interactive interface. It is more intuitive and efficient by clicking on the moving vehicle icon.
  • the automatic parking interaction method further includes: receiving a vehicle head orientation adjustment instruction, and adjusting according to the vehicle head orientation adjustment instruction
  • the heading of the icon vehicle on the target virtual parking space Different users have different parking habits. Some users prefer that the front of the car is facing the outside of the parking space, and some users prefer that the front of the car is facing the inside of the parking space.
  • the front adjustment function can provide a user-friendly experience.
  • receiving the vehicle head orientation adjustment instruction includes: detecting a rotation operation acting on the vehicle icon, that is, detecting the rotation operation of the touch area on the display screen corresponding to the vehicle icon, wherein the vehicle icon is operated on the vehicle icon as the rotation operation is performed.
  • Rotate in the parking interactive interface obtain the vehicle posture of the vehicle icon rotated in the parking interactive interface; adjust the heading of the icon vehicle on the target virtual parking space according to the vehicle posture.
  • the initial position of the vehicle icon in the parking interactive interface is a preset position, or the initial position of the vehicle icon in the parking interactive interface corresponds to the initial geographic location of the vehicle to be parked in the actual environment .
  • the parking interactive interface also includes parameter information of the actual parking space indicated by the virtual parking space.
  • the above-mentioned parameter information may include at least one of the following information: whether the actual parking space indicated by the virtual parking space is suitable for the parking of the above-mentioned vehicle to be parked, and whether the actual parking space indicated by the virtual parking space is Edge parking space, virtual parking space indicating whether there are parking spaces on both sides of the actual parking space, the type of actual parking space indicated by the virtual parking space, and the actual parking space indicated by the virtual parking space Parking space size information and so on.
  • the actual parking-relevant information indicated by each virtual parking space in the parking interactive interface can be used for the user to understand the situation of each parking space before selecting the parking space.
  • the automatic parking interactive method before generating the parking response instruction, further includes: if the actual parking space indicated by the target virtual parking space selected by the user is not suitable for the parking space of the vehicle to be parked , Can prompt the user to reselect the target virtual parking space.
  • the automatic parking interactive method Before prompting the user to reselect the target virtual parking space, the automatic parking interactive method further includes: according to the size of the vehicle to be parked and the size of the actual parking space indicated by the target virtual parking space It is determined whether the actual parking space indicated by the target virtual parking space is suitable for parking the vehicle to be parked.
  • the actual parking space indicated by the virtual parking space included in the parking interactive interface is the parking space in the actual environment where the parking space is divided by the automatic parking system.
  • an embodiment of the present application provides an automatic parking interactive device.
  • the automatic parking interactive device includes: a receiving module, a display module, a touch detection module, an adsorption adjustment module, and a sending module; the receiving module is used for receiving Parking instruction; the display module is used to present a parking interactive interface in response to the parking instruction, and the parking interactive interface includes a vehicle icon indicating a vehicle to be parked and a virtual parking space indicating an actual parking space available for parking;
  • the touch detection module is used to detect the touch operation acting on the parking interactive interface, the touch operation causes the vehicle icon to move in the parking interactive interface, and to obtain the vehicle icon after moving in the parking interactive interface Position;
  • the adsorption adjustment module is used to adsorb the vehicle icon on the target virtual parking space according to the position of the vehicle icon after moving, so that the vehicle icon matches the target virtual parking space, and the target virtual parking space is the parking interaction
  • the virtual parking space whose positional relationship with the moved vehicle icon in the interface meets the preset conditions; the sending module is used
  • the touch detection module is also used to detect the rotation operation acting on the vehicle icon.
  • the vehicle icon rotates in the parking interaction interface with the rotation operation, and obtains the vehicle icon in the parking interaction interface.
  • the posture of the vehicle after rotation in the interface; the adsorption adjustment module is also used to adjust the heading of the icon vehicle on the target virtual parking space according to the vehicle posture.
  • the automatic parking interactive device further includes: a prompt module; the above-mentioned prompt module is used to prompt the user to re-enter if the actual parking space indicated by the target virtual parking space is not suitable for the parking of the vehicle to be parked. Select the above-mentioned target virtual parking space.
  • the prompt module is also used to determine whether the actual parking space indicated by the target virtual parking space is suitable for parking the vehicle to be parked according to the size of the vehicle icon and the size of the target virtual parking space.
  • the prompt module is also used to determine whether the actual parking space indicated by the target virtual parking space is suitable for the parking space according to the size of the vehicle to be parked and the size of the actual parking space indicated by the target virtual parking space. Parking vehicles are parked in.
  • the coincidence of the vehicle icon with the target virtual parking space means: the center point of the vehicle icon coincides with the center point of the target virtual parking space, and the outline edge of the vehicle icon corresponds to the corresponding target virtual parking space.
  • the contour edges are parallel.
  • the position of the virtual parking space in the parking interactive interface is a preset position, or the position of the virtual parking space in the parking interactive interface is in the same position as the actual parking space indicated by the virtual parking space. Corresponds to the geographic location in the actual environment.
  • the parking interactive interface also includes parameter information of the actual parking space indicated by the virtual parking space.
  • the parking interactive interface further includes a non-parking area, and the aforementioned non-parking area is used to indicate an actual geographic area where the vehicle to be parked is not suitable or cannot be parked in the actual environment.
  • the actual parking space indicated by the virtual parking space included in the parking interactive interface is the parking space in the actual environment where the parking space is divided by the automatic parking system.
  • an embodiment of the present application provides an automatic parking interactive device, including a processor and a memory; wherein the memory stores instructions, and when the instructions stored in the memory are called by the processor, they are used to execute the first aspect and the second aspect.
  • an automatic parking interactive device including a processor and a memory; wherein the memory stores instructions, and when the instructions stored in the memory are called by the processor, they are used to execute the first aspect and the second aspect.
  • One aspect of the possible implementations describes the automatic parking interactive method.
  • an embodiment of the present application provides a chip that can implement the automatic parking interaction method described in the first aspect and the possible implementation of the first aspect.
  • the embodiments of the present application provide an automatic parking system.
  • the automatic parking system includes the automatic parking interaction device described in the second aspect and the possible implementation of the second aspect, or the automatic parking interaction device described in the third aspect. Parking interactive device, or the chip described in the fourth aspect.
  • the automatic parking system further includes: a parking calculation module and a control module; wherein the automatic parking interactive device is specifically configured to generate a parking response instruction and send the parking response instruction to the parking calculation module ,
  • the parking response instruction includes the information of the target virtual parking space;
  • the parking calculation module is configured to receive the parking response instruction, and obtain the actual parking space indicated by the target virtual parking space according to the parking response instruction, And planning a parking path from the current position of the vehicle to be parked into the actual parking space indicated by the target virtual parking space;
  • the control module is used to control the vehicle to be parked to park into the target virtual parking space according to the parking path.
  • the actual parking space indicated by the parking space is used to control the vehicle to be parked to park into the target virtual parking space according to the parking path.
  • the embodiments of the present application provide a car, which includes the automatic parking interactive device described in the second aspect and the possible implementations of the second aspect, or the automatic parking interactive device described in the third aspect, or The chip described in the fourth aspect, or the automatic parking system described in the fifth aspect.
  • the application in the automatic parking system can improve the user’s interactive experience in the parking space selection scene, and the drag operation and adsorption adjustment function further improve the user’s presence in the parking space. Convenience and operational texture in the selection scene, highlighting individuality, and concise and beautiful.
  • FIG. 1 is a schematic structural diagram of an automatic parking system provided by an embodiment of the present application.
  • FIG. 2 is a flowchart of an automatic parking interactive method provided by an embodiment of the present application
  • FIG. 3 is a schematic diagram of a parking interactive interface provided by an embodiment of the present application.
  • FIG. 4 is a schematic diagram of another parking interactive interface provided by an embodiment of the present application.
  • Fig. 6 is a schematic diagram of an adsorption effect provided by an embodiment of the present application.
  • FIG. 7 is a schematic diagram of a vehicle icon consistent with a target virtual parking space provided by an embodiment of the present application.
  • FIG. 8 is a Haas intention of rotating operation on the parking interactive interface provided by an embodiment of the present application.
  • FIG. 9 is a schematic diagram of an automatic parking interactive device provided by an embodiment of the present application.
  • FIG. 10 is a schematic diagram of another automatic parking interactive device provided by an embodiment of the present application.
  • FIG. 11 is a flowchart of an automatic parking method provided by an embodiment of the present application.
  • Fig. 12 is a schematic diagram of another automatic parking system provided by an embodiment of the present application.
  • the embodiment of the present application provides an architecture of an automatic parking system.
  • the automatic parking system 100 includes a parking calculation module 110, a parking interactive device 120, a control module 130, and a sensing module 140.
  • the computing module 110, the parking interactive device 120, the control module 130, and the sensing module 140 can realize data communication.
  • the parking calculation module 110 is the brain of the automatic parking system 100. Its main function is to process various data related to the automatic parking function and to be responsible for decision-making and regulation related to the automatic parking function.
  • the parking calculation module 110 may be integrated in the vehicle's ADAS or ADS or parking parking system or on-board central processing system, or the parking calculation module 110 may also be deployed on a cloud device and communicate with each other through wireless communication technology.
  • the parking interactive device 120, the control module 130, and the perception module 140 implement data communication.
  • the parking interactive device 120 has a display function for displaying information related to the automatic parking function and receiving instructions from the user, and undertakes the main interactive functions related to the automatic parking.
  • the parking interactive device 120 may be an on-board display system of the vehicle.
  • the parking interactive device 120 may be a mobile terminal device, such as a smart phone, a tablet computer, and the like.
  • the parking interactive device 120 may be borne by an interactive system with a display function in the smart cockpit system of the vehicle, and data communication between the smart cockpit system and the parking calculation module 110 may be implemented through in-vehicle communication technology.
  • the parking interactive device 120 may be borne by the user's smart phone, and the user's smart phone and the parking calculation module 110 may communicate time and data through wired communication technology or wireless communication technology.
  • the control module 130 is used to control the execution equipment related to the automatic parking function on the vehicle, such as the steering system, the braking system, the accelerator, etc., so that the decision and regulation results of the parking calculation module 110 are effectively executed.
  • the control module 130 may include multiple controllers, which are used to control the corresponding execution devices on the vehicle.
  • the steering controller is used to control the steering system
  • the brake controller is used to control the brake system
  • the throttle controller is used to control the braking system. Control the throttle, etc.
  • the control module 130 can also be one or two integrated controllers.
  • One integrated controller can control multiple execution devices synchronously or/and asynchronously.
  • an integrated controller dedicated to the automatic parking function is configured. Used to control the execution equipment related to the automatic parking function on the vehicle.
  • the sensing module 140 is used to obtain data about the surrounding environment of the vehicle, so that the automatic parking system 100 can perceive the surrounding environment of the vehicle.
  • the sensing module 140 may also process the acquired environmental data before transmitting it to other modules.
  • the sensing module 140 may include one or more sensing devices.
  • the sensing device may be a camera, millimeter wave radar, laser radar, or ultrasonic radar.
  • the number of sensing devices included in the sensing module 140 can realize the automatic parking function according to the automatic parking system 100. Generally speaking, the greater the number of sensing devices, the greater the information about the surrounding environment of the vehicle, and the higher the amount of calculation and cost. In this embodiment of the application, the number of sensing devices included in the sensing module 140 is not determined. limited.
  • the parking calculation module 110, the parking interactive device 120, the control module 130, and the perception module 140 are coordinated with each other.
  • the automatic parking interactive method 100 includes the following steps:
  • the virtual parking space that indicates the actual parking space is specifically: a virtual parking space corresponds to an actual parking space, that is, the virtual parking space displayed in the parking interactive interface is the same as the real existence in the actual environment There is a corresponding relationship between the parking spaces that can be parked, and the selection of the virtual parking space means that the actual parking space indicated by the virtual parking space is selected. Similarly, there is a corresponding relationship between the vehicle icon and the vehicle to be parked.
  • the initial position of the vehicle icon in the parking interactive interface can be a preset position, and the initial position of the vehicle icon in the parking interactive interface can be understood as the first time the vehicle icon is in the parking interactive interface when the parking interactive interface is presented.
  • the preset position may be factory set or set by the user.
  • the initial position of the vehicle icon in the parking interactive interface corresponds to the initial geographic location of the vehicle to be parked in the actual environment.
  • the initial geographic location can be understood as the current position of the vehicle to be parked in the actual environment when the automatic parking starts. Physical location.
  • the position of the virtual parking space in the parking interactive interface is a preset position.
  • the preset position may be a factory setting or a user setting.
  • the position of the virtual parking space in the parking interactive interface corresponds to the geographic location of the actual parking space in the actual environment indicated by the virtual parking space.
  • a top view image generated based on an image collected by a camera configured on the vehicle to be parked is displayed in the parking interactive interface.
  • the top view image presents the image of the area centered on the vehicle to be parked collected by the camera.
  • the vehicle icon in the top view image is used to replace the vehicle to be parked.
  • the vehicle icon is located in the center of the top view image.
  • the top view image can identify the area to be parked.
  • the parking spaces that exist around the vehicles are virtual parking spaces.
  • the origin of the vehicle body coordinate system is located at the projection point of the center point of the rear axle of the vehicle to be parked on the ground.
  • the head direction is the positive direction of the x-axis
  • the left direction of the vehicle to be parked is the positive y-axis direction.
  • the upper left corner of the image is the origin of the pixel coordinates
  • the coordinates (x,y,0) of the pixel p(u,v) in the top view image in the vehicle body coordinate system can be calculated .
  • the pixel coordinates corresponding to the point in the corresponding fisheye camera imaging can be found.
  • the overhead image can be completed by traversing all points in the overhead image and performing a back projection transformation on each point.
  • the parking interactive interface also includes parameter information of the actual parking space indicated by the virtual parking space, for example: whether the actual parking space indicated by the virtual parking space is suitable for parking by the vehicle to be parked Information, whether the actual parking space indicated by the virtual parking space is an edge parking space, whether the parking spaces on both sides of the actual parking space indicated by the virtual parking space have vehicles parked, etc.
  • the parameter information can be used to prompt the user about the relevant parking space information, as a reference when the user chooses the parking space that he wants to park in.
  • the parameter information can be description in words, numbers, symbols, colors, patterns, etc., and the specific description method is not limited.
  • the parking interactive interface also includes a non-parking area.
  • the actual geographic area in the actual environment indicated by the non-parking area is an area where the vehicle to be parked cannot or is not suitable for parking. Optionally, it cannot be parked.
  • the actual geographic area indicated by the vehicle area may be at least one of the following options: the actual parking space that has been parked, the actual parking space that does not match the size of the vehicle to be parked, the actual parking space with obstacles, Non-parking spaces, etc.
  • the virtual parking space and the non-parking area can be recognized by the user through text description, symbols, numbers, colors, etc. in the parking interactive interface. For example, the non-parking area is displayed in gray.
  • the automatic parking interactive method 100 further includes: if the user drags the vehicle icon to the unparkable area through a drag operation, prompting the user that the area is not suitable or unable to park, and/or not adsorbing the vehicle icon Processing in the non-parking area, and further, restoring the vehicle icon to its initial position in the parking interactive interface.
  • Example 1 As shown in Figure 3, Figure 3(a) is a schematic diagram of the parking interactive interface, and Figure 3(b) is a schematic diagram of the actual environment.
  • the virtual parking space and the unparkable area are displayed in the preset display area 1 in the parking interactive interface, and the vehicle icon is initially displayed in the preset display area 2 in the parking interactive interface, that is, the initial position of the vehicle icon is in the preset display area 2.
  • the parking interactive interface shown in Figure 3(a) the relative position of the vehicle icon, the virtual parking space and the non-parking area in the parking interactive interface and the relative position of the vehicle to be parked and the actual parking space in the actual environment Not associated, but displayed in the preset display area 1 according to a preset sorting rule.
  • the second virtual parking indication on the left side of the parking interactive interface shown in Figure 3(a) is the second actual parking space on the lower side in Figure 3(b), as shown in Figure 3(b) Indicates that the actual parking space has parked the vehicle. Therefore, on the way 3(a), the vehicle is displayed on the second virtual parking on the left to indicate that it is a non-parking area. In actual implementation, other methods can also be used to indicate the non-parking area, such as described in Example 2 below. the way. Optionally, when the display area of the virtual parking space in the parking interactive interface is the preset position, the non-parking area may not be displayed. Take Figure 3 as an example, that is, the second virtual parking on the left is not displayed Spaces, show the virtual parking spaces of the other three actual parking spaces.
  • Example 2 As shown in Figure 4, Figure 4(a) is a schematic diagram of the parking interactive interface, and Figure 4(b) is a schematic diagram of the actual environment. As shown in Figure 4, the relative positions of the vehicle icon and the virtual parking space and non-parking area in the parking interactive interface in 4(a) are the same as those of the vehicle to be parked and the actual parking space in Figure 4(b). The relative position in the environment remains consistent.
  • the second virtual parking space on the top left in Figure 4(a) indicates the second actual parking space on the left in Figure 4(b), and the first virtual parking space on the bottom left in Figure 4(a) indicates The first actual parking space on the lower left side in Figure 4(b), the first virtual parking space on the lower right side in Figure 4(a) indicates the first actual parking space on the lower right side in Figure 4(b) , Due to the second actual parking space on the left in Figure 4(b), the first actual parking space on the bottom left in Figure 4(b) and the first actual parking space on the bottom right in Figure 4(b) Vehicles have already parked in the parking space, so the first virtual parking space on the lower left side in Figure 4(a), the first virtual parking space on the lower right side in Figure 4(a), and the first virtual parking space on the right side in Figure 4(a) The first virtual parking space on the right below in) is the non-parking area in the parking interactive interface.
  • presenting the parking interactive interface on the display screen in response to the parking instruction in step S101 specifically includes: acquiring information about actual parking spaces around the vehicle to be parked; and interacting in parking according to the acquired information of the actual parking spaces
  • the virtual parking space is displayed in the interface, so that the virtual parking space displayed in the parking interactive interface can correspond to the actual parking space around the vehicle to be parked.
  • S102 Detect a touch operation of a touch area on the display screen corresponding to the parking interactive interface, and the touch operation causes the vehicle icon to move in the parking interactive interface.
  • a drag operation of a touch area on the display screen corresponding to the parking interactive interface is detected, wherein the vehicle icon moves in the parking interactive interface along with the drag operation.
  • the interactive interface shown in Figure 5 as an example. See Figure 5. It is detected that the user drags the vehicle icon in the preset display area 2 from position 1 to position 2 and then stops the drag operation, that is, the position 2 is the vehicle icon in parking The moved position in the interactive interface.
  • detecting a click operation of a touch area on the display screen corresponding to the parking interactive interface detecting a click operation of a touch area on the display screen corresponding to the parking interactive interface, and moving the vehicle icon to the click position of the click operation.
  • S103 Obtain the position of the vehicle icon after moving in the parking interactive interface, referring to FIG. 5, that is, obtain the position information of the vehicle icon at the position 2.
  • S104 Attach the vehicle icon to the target virtual parking space in the parking interactive interface according to the moved position of the vehicle icon.
  • the adsorption processing can make the vehicle icon coincide with the target virtual parking space in the parking interactive interface.
  • the target virtual parking space is a virtual parking space whose positional relationship with the moving vehicle icon in the parking interactive interface satisfies a preset condition.
  • the feedback can be done by voice or vibration.
  • the user can be prompted to adjust the heading of the vehicle icon.
  • the heading of the vehicle icon in the parking interactive interface represents the vehicle to be parked after the automatic parking is completed.
  • the front of the car in the actual parking space is facing.
  • the target virtual parking space is determined according to the position relationship between the moved vehicle icon and the virtual parking space in the parking interactive interface. Specifically, the target virtual parking space is determined according to the linear distance from the center point of the moved vehicle icon to the center point of the virtual parking space, that is, the linear distance between the center point in the parking interactive interface and the center point of the moved vehicle icon is the shortest As the virtual parking space is the target virtual parking space, of course, it must be considered that the linear distance between the center point of the vehicle icon and the center point of the target virtual parking space cannot be greater than a certain threshold, so as to avoid the invalid drag of the user causing the vehicle icon to be adsorbed on the virtual parking space. Reduce user experience.
  • the angle between the vehicle icon and the virtual parking space may also be considered when determining the target virtual parking space.
  • the vehicle icon indicates the vehicle to be parked
  • the virtual parking space indicates the actual parking space around the vehicle to be parked.
  • the size of the vehicle icon also represents the size of the vehicle to be parked
  • the size of the virtual parking space also represents the size of the actual parking space that can be parked.
  • the match between the vehicle icon and the target virtual parking space can be understood as: making the vehicle icon fall into the target virtual parking space, as shown in Figure 7 (a) and Figure 7 (b), correspondingly, indicating that the automatic parking is completed and waiting to be parked Vehicles can be parked in actual parking spaces.
  • the coincidence of the vehicle icon with the target virtual parking space can be understood as: the center point of the vehicle icon coincides with the center point of the target virtual parking space, and the contour edge of the vehicle icon is parallel to the contour edge of the corresponding target virtual parking space, such as As shown in Figure 7(b).
  • the beneficial effect of the adsorption processing in step S104 is that the target virtual parking space to be selected by the user through the drag operation can be quickly determined, and the vehicle icon is superimposed on the target virtual parking space to achieve a consistent effect, so that the user can start the automatic parking From the parking interactive interface, the effect of "the car is parked in the parking space" can be intuitively felt, and it can reduce the complicated process and time for the user to overlap the vehicle icon on the target virtual parking space through the drag operation.
  • the relative relationship between the moved vehicle icon and the target virtual parking space reflects the relative relationship between the vehicle to be parked and the actual parking space indicated by the target virtual parking space after the automatic parking is completed.
  • receiving the vehicle head orientation adjustment instruction includes: detecting a rotation operation of the touch area on the display screen corresponding to the vehicle icon, wherein the vehicle icon rotates in the parking interactive interface with the rotation operation; acquiring the vehicle icon in the parking interactive interface The rotated vehicle posture; adjust the heading of the icon vehicle on the target virtual parking space according to the vehicle posture.
  • the vehicle icon can be adsorbed on the target virtual parking space again.
  • adjusting the heading of the icon vehicle on the target virtual parking space according to the vehicle posture includes: adjusting the icon vehicle’s position at the target according to the angle between the longitudinal center axis of the rotated vehicle icon and the virtual parking space longitudinal center axis.
  • the front of the vehicle on the virtual parking space is facing.
  • the minimum angle ⁇ ie acute angle
  • the outside of the virtual parking space refers to the entrance side of the parking space.
  • the inner side of the corresponding virtual parking space refers to the side opposite to the entrance side of the parking space (ie, the bottom of the parking space).
  • the included angle ⁇ is the angle between the outer end axis of the longitudinal center axis of the target virtual parking space and the front end axis of the longitudinal center axis of the vehicle icon, or the front end of the longitudinal center axis of the vehicle icon The end axis is close to the outside of the target virtual parking space.
  • the head of the vehicle icon is adjusted as shown in Figure (a) so that the head of the vehicle faces outward as shown in Figure 8(c). It also means that the front of the vehicle to be parked in the actual parking space after automatic parking is facing outwards.
  • receiving the front-facing adjustment instruction includes: detecting the touch operation of the front-facing virtual button or the front-facing virtual button in the parking interactive interface, and adjusting the icon of the vehicle on the target virtual parking space according to the detected touch operation.
  • the front of the car is facing.
  • the head of the current vehicle icon on the target virtual parking space is facing the inner side of the target virtual parking space (that is, the side of the non-parking space entrance).
  • the heading of the iconic vehicle on the target virtual parking space is adjusted from the head of the car to the inside of the target virtual parking space to the head of the car facing the outside of the target virtual parking space (and the parking space entrance side).
  • the parking response instruction may include the information of the target virtual parking space or the information of the actual parking space indicated by the target virtual parking space to inform the virtual parking space selected by the user of the automatic parking system or the target actual parking space.
  • the parking space (the actual parking space indicated by the target virtual parking space) enables the automatic parking system to control the vehicle to be parked to enter the actual parking space corresponding to the virtual parking space selected by the user.
  • the actual size of the parking space is mapped under the same scale in the parking interface, that is, the size of the vehicle icon in the parking interface represents the size of the vehicle to be parked, and the target virtual parking space
  • the size of the indicated actual parking space virtual parking space represents the size of the actual parking space indicated, so that the size of the vehicle icon can be directly compared with the size of the target virtual parking space. Under this condition, the user can also intuitively see from the parking interactive interface whether the size of the actual parking space indicated by the target virtual parking space is suitable for the parking of the vehicle to be parked.
  • the automatic parking interactive method 100 further includes: switching the parking interactive interface to the parking real-time screen interface, and the parking real-time screen interface is used to display images during the automatic parking process of the vehicle to be parked collected in real time through the camera.
  • parking track information can also be displayed.
  • the actual parking spaces divided in the interactive interface allow users to more humanely choose the area they want to park in. There are no restrictions on the constraint conditions here, which can be the size of standard parking spaces, the form of parking spaces (vertical parking spaces or side parking spaces), or the principled division of parking areas that can be used more reasonably.
  • the automatic parking interaction device 100 includes functional modules that can implement the automatic parking interaction method 100 described in the corresponding embodiment in FIG. 2. The following briefly describes the receiving module 101, the display module 102, the touch detection module 103, the adsorption adjustment module 104 and the sending module 105 included in the automatic parking interactive device 100 with reference to the structure of the automatic parking interactive device 100 shown in FIG.
  • the receiving module 101 is used for receiving data sent by other devices to the automatic parking interactive device 100, specifically for receiving a parking instruction.
  • the display module 102 is used for displaying content, and specifically presents a parking interactive interface to the user in response to the parking instruction received by the receiving module 101.
  • the parking interactive interface displays a vehicle icon indicating the vehicle to be parked and indicating that the vehicle is actually available for parking. Virtual parking space for parking spaces.
  • the touch detection module 103 is configured to detect the touch operation on the display module 102 and receive user instructions.
  • the touch operation causes the vehicle icon to move in the parking interactive interface.
  • it is used to detect the drag operation of the touch area on the display screen corresponding to the vehicle icon in the parking interactive interface, and obtain the position of the vehicle icon after moving in the parking interactive interface.
  • the adsorption adjustment module 104 is used for adsorbing the vehicle icon to the target virtual parking space in the parking interactive interface according to the position of the vehicle icon after moving.
  • the adsorption processing can make the vehicle icon and the target virtual in the parking interactive interface virtual
  • the parking spaces are consistent, and the target virtual parking space is the virtual parking space whose position relationship with the moving vehicle icon in the parking interactive interface meets the preset condition.
  • the sending module 105 is used to send data to other devices/devices, specifically to generate a parking response command and send the parking response command to the automatic parking system so that the automatic parking system controls the vehicle to be parked to enter the target virtual parking The actual parking space indicated by the parking space.
  • the touch detection module 103 is also used to detect the touch operation of the front-facing virtual button or the front-facing virtual button in the parking interactive interface, and the adsorption adjustment module 104 is also used to adjust according to the detected touch operation.
  • the touch detection module 103 is also specifically used to detect the rotation operation of the touch area on the display screen corresponding to the vehicle icon, where the vehicle icon rotates in the parking interactive interface with the rotation operation; and the vehicle icon is obtained when the vehicle is parked.
  • the posture of the rotating vehicle in the interactive interface is also used to adjust the heading of the icon vehicle on the target virtual parking space according to the vehicle posture acquired by the touch detection module 103.
  • the adsorption adjustment module 104 is also used to re-adsorb the vehicle icon on the target virtual parking space.
  • the prompt module 106 is also used to determine whether the actual parking space indicated by the target virtual parking space is suitable for parking by the vehicle to be parked before the sending module 105 generates a parking response instruction; if it is suitable, it can prompt the user that the user is about to drive into the target The actual parking space indicated by the virtual parking space; if not suitable, the actual parking space indicated by the target virtual parking space is not suitable for the parking of the vehicle to be parked. At the same time, the user can also be prompted by towing Drag operation to reselect the target virtual parking space.
  • the automatic parking interaction device 100 described in the corresponding embodiment in FIG. 9 is a device corresponding to the automatic parking interaction method 100 described in the corresponding embodiment in FIG. 2, and the automatic parking interaction device 100 can implement all the steps included in the automatic parking interaction method.
  • the automatic parking interaction device 100 can implement all the steps included in the automatic parking interaction method.
  • the memory 201 may be a read-only memory, a static storage device, a dynamic storage device, or a random access memory.
  • the memory 201 may store a program. When the program stored in the memory 201 is executed by the processor 202, the processor 202 is configured to execute the automatic parking interaction method 100 described in the embodiment of the present application corresponding to FIG. 2.
  • the processor 202 may adopt a general-purpose central processing unit, a microprocessor, an application specific integrated circuit, a graphics processing unit (GPU), or one or more integrated circuits for executing related programs to implement the embodiments of the present application.
  • the processor can realize the function of each module in Fig. 9.
  • the processor 202 may also be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the image segmentation method of the present application can be completed by hardware integrated logic circuits in the processor 202 or instructions in the form of software.
  • the aforementioned processor 202 may also be a general-purpose processor, a digital signal processor (Digital Signal Processing, DSP), an application specific integrated circuit (ASIC), an off-the-shelf programmable gate array (Field Programmable Gate Array, FPGA) or other programmable logic devices. , Discrete gates or transistor logic devices, discrete hardware components.
  • DSP Digital Signal Processing
  • ASIC application specific integrated circuit
  • FPGA Field Programmable Gate Array
  • Discrete gates or transistor logic devices discrete hardware components.
  • the general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like.
  • the steps of the method disclosed in the embodiments of the present application can be directly embodied as being executed and completed by a hardware decoding processor, or executed and completed by a combination of hardware and software modules in the decoding processor.
  • the software module can be located in a mature storage medium in the field, such as random access memory, flash memory, read-only memory, programmable read-only memory, or electrically erasable programmable memory, registers.
  • the communication interface 203 uses a transceiving device such as but not limited to a transceiver to implement communication between the automatic parking interactive device 200 and other devices or a communication network. For example, the data of actual parking spaces around the vehicle to be parked may be received through the communication interface 203.
  • a transceiving device such as but not limited to a transceiver to implement communication between the automatic parking interactive device 200 and other devices or a communication network. For example, the data of actual parking spaces around the vehicle to be parked may be received through the communication interface 203.
  • the bus 204 may include a path for transferring information between various components of the automatic parking interactive device 200 (for example, the memory 201, the processor 202, and the communication interface 203).
  • the automatic parking interactive device 200 shown in FIG. 10 only shows a memory, a processor, and a communication interface, in the specific implementation process, those skilled in the art should understand that the automatic parking interactive device 200 also includes Other devices necessary for normal operation. At the same time, according to specific needs, those skilled in the art should understand that the automatic parking interactive device 200 may also include hardware devices that implement other additional functions. In addition, those skilled in the art should understand that the automatic parking interactive device 200 may also only include the components necessary to implement the embodiments of the present application, and not necessarily include all the components shown in FIG. 10.
  • the automatic parking interactive device 100 and the automatic parking interactive device 200 described in the corresponding embodiment of FIG. 9 and FIG. 10 can realize the function of the parking interactive device 120 in the automatic parking system 100 described in the corresponding embodiment of FIG. 1.
  • the embodiments of the present application provide an automatic parking method.
  • the automatic parking method 200 includes the following steps:
  • S201 Receive an automatic parking instruction from a user, for example, the user sets the vehicle to a reverse gear to trigger an automatic parking instruction.
  • S202 Acquire environmental data of a preset range around the vehicle to be parked, for example, obtain environmental data of a preset range around the vehicle to be parked through a sensing device.
  • S203 Obtain data of actual parking spaces that can be parked according to the environmental data.
  • the embodiment of the present application does not make any limitation on the specific implementation manner of step 203.
  • a parking interactive interface is presented on the display screen, where the parking interactive interface includes a vehicle icon indicating a vehicle to be parked and a virtual parking space indicating an actual parking space that can be parked.
  • S205 Detect the drag operation of the touch area on the display screen corresponding to the vehicle icon, and obtain the position of the vehicle icon after moving in the parking interactive interface, where the vehicle icon moves in the parking interactive interface with the drag operation.
  • S206 Attach the vehicle icon to the target virtual parking space according to the moved position of the vehicle icon, so that the vehicle icon coincides with the target virtual parking space, and the target virtual parking space is the positional relationship between the moving vehicle icon in the parking interactive interface and the moving vehicle icon.
  • S209 Determine a parking path according to the data of the target parking space and the data of the vehicle to be parked, where the parking path refers to a path for the vehicle to be parked to park into the target parking space.
  • S210 Control the vehicle to be parked to drive into the target parking space according to the parking path.
  • a positioning system can be combined to control the vehicle to be parked to drive into the target parking space.
  • the sensing capability of the sensing device can be combined to control the vehicle to be parked to drive into the target parking space.
  • the automatic parking method 200 further includes: S211, receiving a front orientation adjustment instruction and adjusting the front orientation of the icon vehicle on the target virtual parking space according to the front orientation adjustment instruction.
  • the dynamic parking method 200 further includes: S212, determining whether the actual parking space indicated by the target virtual parking space is suitable for parking the vehicle to be parked; if it is not suitable, The user is prompted to reselect the target virtual parking space.
  • step S203 specifically includes: knowing that there is no parking space around the vehicle to be parked but a parking area (such as an open space) according to the environmental data, and then dividing the parking area into multiple parking areas according to the environmental data and preset rules. Actual parking spaces are available and the data of actual parking spaces are obtained.
  • a parking area such as an open space
  • the automatic parking method described in the embodiment corresponding to FIG. 11 can be understood as: the automatic parking interaction method 100 described in the embodiment corresponding to FIG. 2 is applied to the automatic parking method 200, that is, the automatic parking interaction method 100 and A combination of automatic parking regulation and control methods.
  • the description related to the automatic parking interaction method 100 (specifically S201, S204-S207) may refer to the related description of the corresponding embodiment in FIG. 2, which will not be repeated here.
  • the automatic parking system 100 described in the embodiment corresponding to FIG. 1 can implement the steps of the automatic parking method described in the embodiment corresponding to FIG. 11, including the steps of the automatic parking interaction method 100 described in the corresponding embodiment in FIG. 2.
  • the embodiment of the present application also provides an automatic parking system.
  • the automatic parking system includes the automatic parking interactive device 100 described in the embodiment corresponding to FIG. 9 or the automatic parking interactive device 200 described in the corresponding embodiment in FIG. FIG. 2 corresponds to the automatic parking interaction method 100 described in the embodiment and FIG. 11 corresponds to the automatic parking method 200 described in the embodiment.
  • the embodiment of the present application also provides a chip, including at least one processor, the at least one processor is coupled to a memory, and the memory stores instructions.
  • the instructions stored in the memory are executed by the at least one processor, at least A processor combined with related hardware is used to execute the automatic parking method 200 described in the embodiment corresponding to FIG. 11.
  • the automatic parking system includes:
  • the surround view camera is used to capture 360-degree images of the surrounding vehicle to be parked.
  • the top view stitching module is used to generate a top view of the surrounding area of the vehicle to be parked by back-projecting the images captured by the surround view camera.
  • the top view of the surrounding area of the vehicle to be parked is an image centered on the vehicle to be parked.
  • the display module is used to display the parking interactive interface on the display screen.
  • the parking interactive interface includes a top view of the surrounding area of the vehicle to be parked and a vehicle icon indicating the vehicle to be parked.
  • the perception module is used to perceive targets such as ground markings in the area around the vehicle to be parked and/or perceive the drivable area around the vehicle.
  • the detection module is used to detect the user's touch operation on the display screen, such as click operation, drag operation and rotation operation, etc. Specifically, it detects the user's touch operation on the display screen, and moves the vehicle icon to the point where the touch operation occurs. Position; detects the user's touch operation on the vehicle icon, and adjusts the orientation of the vehicle icon to the orientation specified by the touch operation.
  • the touch operation includes a click operation on the display screen. When the user clicks on the screen, the vehicle icon is moved to the clicked position with the same orientation; or it is a drag operation on the vehicle icon, and the vehicle icon is dragged with the finger The trajectory moves; or the rotation operation of the vehicle icon, the direction of the vehicle icon moves in the direction of rotation.
  • the vehicle adjustment module is used to detect the position and orientation of the vehicle icon, and obtain the feasible area edge or ground marking line that matches the position and orientation of the vehicle icon as the matching result, and adaptively adjust the vehicle icon according to the matching result, and adjust the vehicle icon according to the matching result.
  • the location and orientation generate virtual parking spaces.
  • the vehicle adjustment module is used to: when the touch operation ends, match the vehicle icon with one or more of the edge of the ground marking line and the edge of the feasible area in the top view, where the ground marking line may be a roadside parking
  • the edge of the feasible area refers to the boundary between the area where the vehicle to be parked can drive and the area where the vehicle to be parked can not drive, such as the edge of obstacles, walls, etc.
  • the matching method is to compare the orientation and center distance of the vehicle icon and the edge mark, the edge of the feasible area. When the angle between the direction of the vehicle icon and the edge direction is less than the specified threshold, and the distance between the center position of the vehicle icon and the edge is less than the threshold, it is considered a match.
  • Information such as parkable areas and ground marking lines can be obtained by image segmentation methods, or by line detection methods.
  • the system uses a machine learning method to add a label to each pixel in the top view, indicating that the pixel is a parkable area, a marked line segment, or an obstacle.
  • Huzong uses traditional machine vision line detection and other methods to identify edge lines. In the parking lot scene, the user tends to align the vehicle to be parked with the ground marking line or the edge of the obstacle. According to this principle, the matching result is obtained.
  • the vehicle adjustment module is also used to: adaptively adjust the position and orientation of the vehicle icon. Specifically, when a matching result does exist, the orientation and position of the vehicle icon are adaptively adjusted to align the vehicle icon with the matching result; and through vibration feedback, the prompt sound prompts the user to adjust the vehicle icon adaptively. When the vehicle icon is not completely located in the feasible area, match the edge of the feasible area, and adjust the vehicle icon to the feasible area.
  • the vehicle adjustment module is also used to generate a virtual parking space according to the position and orientation of the vehicle icon after adaptive adjustment, where the virtual parking space corresponds to a real parking area (such as a parking space) in the actual environment, and the location of the real parking area And the direction is consistent with the virtual parking space.
  • a real parking area such as a parking space

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Abstract

一种自动泊车交互方法及装置，方法包括：接收泊车指令并响应于泊车指令在显示屏中呈现泊车交互界面；检测泊车交互界面上的触控操作使得车辆图标在泊车交互界面中移动；获取车辆图标在泊车交互界面中移动后的位置；根据车辆图标移动后的位置将车辆图标吸附在目标虚拟停车位上，使得车辆图标与目标虚拟停车位相吻合；生成泊车响应指令，以使得自动泊车系统控制待泊车车辆驶入目标虚拟停车位所指示的实际可泊车停车位。其能够提高用户在泊车场景下的交互体验、便捷性。

Description

一种自动泊车交互方法及装置 技术领域
本申请涉及智能驾驶领域，尤其涉及自动泊车交互方法和装置。
背景技术
随着智能汽车由概念产品走向商品化，越来越多的人们在选购汽车的时候不再只是关注发动机、底盘、变速箱等传统机械系统，而更多地注重智能化功能和智能交互体验。
在现实中，停车位紧张且较窄的现状在一定程度上引起了很多人的停车“焦虑”，如何更好更快的停车成为了较大的市场需求。因此针对泊车这一市场需求，越来越多的业界厂商推出了很多自动泊车系统或者解决方案。从目前来看，自动泊车系统已经是高级驾驶辅助系统(Advanced Driver Assistant Systems，ADAS)或者自动驾驶系统(Automated Driving System，ADS)的重要功能的组成部分，也是最先落地实现的基础功能之一。当然，市场上还出现了很多单独自动泊车系统，为市场上不具备自动泊车功能的汽车提供自动泊车功能升级。
然而，自动泊车技术领域在如何识别停车位、如何规控泊车路线等技术研究的有了较大的发展，忽略了智能汽车作为一个商品化智能产品在智能交互功能上的体验，相对于自动泊车系统其它技术的成果，自动泊车系统在智能交互体验方面却差强人意。
发明内容
针对现有技术中自动泊车系统在交互方面体验不佳的问题，本申请实施例提供了一种自动泊车交互方法。
第一方面，本申请实施例提供了一种自动泊车交互方法，该自动泊车交互方法包括：接收泊车指令并响应于上述泊车指令在显示屏中呈现泊车交互界面，上述泊车交互界面中包括指示待泊车车辆的车辆图标和指示实际可泊车停车位的虚拟停车位；检测作用于上述泊车交互界面上的触控操作，即检测上述泊车交互界面对应的显示屏上触控区域的触控操作，上述触控操作使得上述车辆图标在上述泊车交互界面中移动；获取上述车辆图标在上述泊车交互界面中移动后的位置；根据上述车辆图标移动后的位置将上述车辆图标吸附在目标虚拟停车位上，使得上述车辆图标与上述目标虚拟停车位相吻合，上述目标虚拟停车位为上述泊车交互界面中与移动后的上述车辆图标移动的位置关系满足预设条件的上述虚拟停车位；生成泊车响应指令，以使得自动泊车系统控制上述待泊车车辆驶入上述目标虚拟停车位所指示的实际可泊车停车位。上述吸附处理使得用户通过在显示屏上触控方式移动车辆图标选择停车位的过程便捷，减少用户在将车辆图标与选定的虚拟停车位达到吻合效果过程的注意力，提高选择停车位的效率。
一种可能的实现方式，检测作用于泊车交互界面上的触控操作包括：检测作用于车辆图标上的拖拽操作，即检测上述车辆图标对应的显示屏上触控区域的拖拽操作，其中车辆图标随着上述拖拽操作在泊车交互界面中移动。拖拽操作是很有质感的触控方式，通过拖拽操作移动车辆图标再结合吸附处理提高了用户在选择停车位场景下的体验。
一种可能的实现方式，检测作用于泊车交互界面上的触控操作包括：检测作用于泊车交互界面上的触控操作，即检测上述泊车交互界面对应的显示屏上触控区域的点击操作，并将车辆图标移动到点击操作在上述泊车交互界面中的点击位置。通过点击移动车辆图标的方式更直观和高效。
一种可能的实现方式，在根据车辆图标移动后的位置将车辆图标吸附在目标虚拟停车位上之后，该自动泊车交互方法还包括：接收车头朝向调整指令，并根据上述车头朝向调整指令调整上述图标车辆在上述目标虚拟停车位上的车头朝向。不同用户有不同的停车习惯，有的用户喜欢车头朝向停车位外侧，有的用户喜欢车头朝向停车位内侧，车头调整功能可以提供用户人性化的体验。
一种可能的实现方式，接收车头朝向调整指令包括：检测作用于车辆图标上的旋转操作，即检测上述车辆图标对应的显示屏上触控区域的旋转操作，其中车辆图标随着旋转操作在上述泊车交互界面中旋转；获取上述车辆图标在上述泊车交互界面中旋转后的车辆姿态；根据上述车辆姿态调整上述图标车辆在上述目标虚拟停车位上的车头朝。
一种可能的实现方式，车辆图标与目标虚拟停车位吻合表示：上述车辆图标的中心点与上述目标虚拟停车位的中心点重合，且上述车辆图标的轮廓边线与相对应的上述目标虚拟停车位的轮廓边线平行。
一种可能的实现方式，车辆图标在泊车交互界面中的初始位置为预设位置，或者，车辆图标在泊车交互界面中的初始位置与待泊车车辆在实际环境中的初始地理位置对应。
一种可能的实现方式，虚拟停车位在泊车交互界面中的位置为预设位置，或者，虚拟停车位在泊车交互界面中的位置与虚拟停车位所指示的实际可泊车停车位在实际环境中的地理位置对应。
一种可能的实现方式，泊车交互界面中还包括虚拟停车位所指示的实际可泊车停车位的参数信息。其中上述参数信息可以包括下面至少一种信息：虚拟停车位所指示的实际可泊车停车位是否适合上述待泊车车辆停入的信息、虚拟停车位所指示的实际可泊车停车位是否是边缘停车位、虚拟停车位所指示的实际可泊车停车位两边的停车位是否停有车辆、虚拟停车位所指示的实际可泊车停车位的类型、虚拟停车位所指示的实际可泊车停车位尺寸信息等等。在泊车交互界面中提示各虚拟停车位指示的实际可泊车停车相关信息可以供用户在选择停车位前了解各停车位的情况。
一种可能的实现方式，泊车交互界面中还包括不可泊车区域，上述不可泊车区域用于指示实际环境中不适合或者不能停入待泊车车辆的实际地理区域。其中上述不可泊车区域指示待泊车车辆周边的实际地理区域可以包括下面选项中的至少一种：已停车的实际停车位、与待泊车车辆尺寸不符合的实际可泊车停车位、有障碍物的实际停车位、非停车位区域、障碍物区域等等。
一种可能的实现方式，在生成泊车响应指令之前，该自动泊车交互方法还包括：如果用户选择的目标虚拟停车位所指示的实际可泊车停车位不适合待泊车车辆停入的，可以提示用户重新选择目标虚拟停车位。
一种可能的实现方式，在提示用户重新选择目标虚拟停车位之前，该自动泊车交互方法还包括：根据车辆图标的尺寸与目标虚拟停车位的尺寸判断目标虚拟停车位所指示的实际可泊车停车位是否适合待泊车车辆停入。
一种可能的实现方式，在提示用户重新选择目标虚拟停车位之前，该自动泊车交互方法还包括：根据待泊车车辆的尺寸和目标虚拟停车位所指示的实际可泊车停车位的尺寸判断目标虚拟停车位所指示的实际可泊车停车位是否适合待泊车车辆停入。
一种可能的实现方式，泊车交互界面包括的虚拟停车位所指示的实际可泊车停车位为实际环境中可泊车区域被自动泊车系统划分的停车位。
第二方面，本申请实施例提供了一种自动泊车交互装置，上述自动泊车交互装置包括： 接收模块、显示模块、触控检测模块、吸附调整模块和发送模块；上述接收模块用于接收泊车指令；上述显示模块用于响应于上述泊车指令呈现泊车交互界面，上述泊车交互界面中包括指示待泊车车辆的车辆图标和指示实际可泊车停车位的虚拟停车位；上述触控检测模块用于检测作用于上述泊车交互界面上的触控操作，上述触控操作使得上述车辆图标在上述泊车交互界面中移动，并获取上述车辆图标在上述泊车交互界面中移动后的位置；上述吸附调整模块用于根据上述车辆图标移动后的位置将上述车辆图标吸附在目标虚拟停车位上，使得上述车辆图标与上述目标虚拟停车位相吻合，上述目标虚拟停车位为上述泊车交互界面中与移动后的上述车辆图标的位置关系满足预设条件的上述虚拟停车位；发送模块用于生成泊车响应指令并向自动泊车系统的发送上述泊车响应指令使得上述自动泊车系统控制待泊车车辆驶入上述目标虚拟停车位所指示的实际可泊车停车位。
一种可能的实现方式，触控检测模块还用于检测作用于车辆图标上的旋转操作，上述车辆图标随着上述旋转操作在泊车交互界面中旋转，并获取上述车辆图标在上述泊车交互界面中旋转后的车辆姿态；上述吸附调整模块还用于根据上述车辆姿态调整上述图标车辆在上述目标虚拟停车位上的车头朝。
一种可能的实现方式，自动泊车交互装置还包括:提示模块；上述提示模块用于如果目标虚拟停车位所指示的实际可泊车停车位不适合待泊车车辆停入的，提示用户重新选择上述目标虚拟停车位。
一种可能的实现方式，提示模块还用于根据车辆图标的尺寸与目标虚拟停车位的尺寸判断目标虚拟停车位所指示的实际可泊车停车位是否适合待泊车车辆停入。
一种可能的实现方式，提示模块还用于根据待泊车车辆的尺寸和目标虚拟停车位所指示的实际可泊车停车位的尺寸判断目标虚拟停车位所指示的实际可泊车是否适合待泊车车辆停入。
一种可能的实现方式，车辆图标与目标虚拟停车位吻合表示：上述车辆图标的中心点与上述目标虚拟停车位的中心点重合，且上述车辆图标的轮廓边线与相对应的上述目标虚拟停车位的轮廓边线平行。
一种可能的实现方式，车辆图标在泊车交互界面中的初始位置为预设位置，或者，车辆图标在泊车交互界面中的初始位置与待泊车车辆在实际环境中的初始地理位置对应。
一种可能的实现方式，虚拟停车位在泊车交互界面中的位置为预设位置，或者，虚拟停车位在泊车交互界面中的位置与虚拟停车位所指示的实际可泊车停车位在实际环境中的地理位置对应。
一种可能的实现方式，泊车交互界面中还包括虚拟停车位所指示的实际可泊车停车位的参数信息。
一种可能的实现方式，泊车交互界面中还包括不可泊车区域，上述不可泊车区域用于指示实际环境中不适合或者不能停入待泊车车辆的实际地理区域。
一种可能的实现方式，泊车交互界面包括的虚拟停车位所指示的实际可泊车停车位为实际环境中可泊车区域被自动泊车系统划分的停车位。
第三方面，本申请实施例提供了一种自动泊车交互装置，包括处理器、存储器；其中上述存储器存储有指令，当上述存储器存储的指令被处理器调用是用于执行第一方面及第一方面的可能的实现方式中描述自动泊车交互方法。
第四方面，本申请实施例提供了一种芯片，该芯片可以实现第一方面及第一方面的可能的实现方式中描述自动泊车交互方法。
第五方面，本申请实施例提供了一种自动泊车系统，该自动泊车系统包括第二方面以及第二方面的可能的实现方式描述的自动泊车交互装置，或者第三方面描述的自动泊车交互装置，或第四方面描述的芯片。
一种可能的实现方式，自动泊车系统还包括：泊车计算模块和控制模块；其中自动泊车交互装置具体用于生成泊车响应指令并将上述泊车响应指令发送给上述泊车计算模块，上述泊车响应指令包括目标虚拟停车位的信息；上述泊车计算模块用于接收上述泊车响应指令，并根据上述泊车响应指令获取上述目标虚拟停车位指示的实际可泊车停车位，以及规划从待泊车车辆当前位置驶入上述目标虚拟停车位指示的实际可泊车停车位的泊车路径；上述控制模块用于根据上述泊车路径控制上述待泊车车辆停入上述目标虚拟停车位指示的实际可泊车停车位。
第六方面，本申请实施例提供了一种汽车，该汽车包括第二方面以及第二方面的可能的实现方式描述的自动泊车交互装置，或第三方面描述的自动泊车交互装置，或第四方面描述的芯片，或第五方面描述的自动泊车系统。
采用本申请实施例提供的自动泊车交互方法或装置，应用在自动泊车系统中能够提高用户在停车位选择场景中的交互体验，拖拽操作和吸附调整功能进一步提高了用户在在停车位选择场景中便捷性和操作质感，彰显个性，而且简洁与美观。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对本申请实施例或背景技术中所需要使用的附图进行说明。
图1是本申请实施例提供的一种自动泊车系统的架构示意图；
图2是本申请实施例提供的一种自动泊车交互方法流程图；
图3是本申请实施例提供的一种泊车交互界面示意图；
图4是本申请实施例提供的另一种泊车交互界面示意图；
图5是本申请实施例提供的一种在泊车交互界面上拖拽操作的示意图；
图6是本申请实施例提供的一种吸附效果示意图；
图7是本申请实施例提供的一种车辆图标与目标虚拟停车位吻合示意图；
图8是本申请实施例提供的一种在泊车交互界面上旋转操作的哈斯意图；
图9是本申请实施例提供的一种自动泊车交互装置示意图；
图10是本申请实施例提供的另一种自动泊车交互装置示意图；
图11是本申请实施例提供的一种自动泊车方法流程图；
图12是本申请实施例提供的另一种自动泊车系统示意图。
具体实施方式
为了使本申请的目的、技术方案和优点更加清楚，下面将结合附图，对本申请实施例中的技术方案进一步地详细描述。显然，所描述的实施例仅是本申请的部分实施例，而不是全部的实施例。基于本申请中的实施例，本技术领域技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
本申请实施例提供了一种自动泊车系统的架构，参见图1所示，自动泊车系统100包括泊车计算模块110、泊车交互设备120、控制模块130和感知模块140，其中泊车计算模块110、泊车交互设备120、控制模块130、感知模块140之间能够实现数据通信。
泊车计算模块110是自动泊车系统100的大脑，主要的功能是处理与自动泊车功能相关 的各种数据并负责与自动泊车功能相关的决策与规控。可选的，泊车计算模块110可以是集成在车辆的ADAS或者ADS或者泊车泊车系统或者车载中央处理系统中，或者泊车计算模块110也可以部署在云端设备上，通过无线通信技术与泊车交互设备120、控制模块130、感知模块140实现数据通信。
泊车交互设备120具有显示功能，用于显示与自动泊车功能相关的信息和接收用户的指令，承担主要的自动泊车相关的交互功能。可选的，泊车交互设备120可以是车辆的车载显示系统。可选的，泊车交互设备120可以是移动终端设备，例如智能手机、平板电脑等。在一种具体实现中，泊车交互设备120可以由车辆的智能座舱系统中具有显示功能的交互系统承担，智能座舱系统与泊车计算模块110之间可以通过车内通信技术实现数据通信。在另一种具体实现中，泊车交互设备120可以由用户的智能手机承担，用户的智能手机与泊车计算模块110之间可以通过有线通信技术或者无线通信技术时间数据通信。
控制模块130用于控制车辆上与自动泊车功能相关的执行设备，例如转向系统、制动系统、油门等，使得泊车计算模块110的决策和规控结果得到有效执行。可选的，控制模块130可以包括多个控制器，分别用于控制车辆上对应的各执行设备，例如，转向控制器用于控制转向系统，制动控制器用于控制制动系统，油门控制器用于控制油门等。可选的，控制模块130也可以是一个或两个集成控制器，一个集成控制器可以同步或/和异步的控制多个执行设备，例如，一个专用于自动泊车功能的集成控制器被配置用于控制车辆上与自动泊车功能相关的执行设备。
感知模块140用于获取车辆周边环境数据，使得自动泊车系统100可以感知车辆周边环境。可选的，感知模块140还可以对获取的环境数据进行处理后再传输给其他模块。感知模块140可以包括一个或多个感知设备，感知设备可以是摄像头、毫米波雷达、激光雷达或者超声波雷达，感知模块140所包含的感知设备的数量可以根据自动泊车系统100实现自动泊车功能的需求进行合理配置，一般来说感知设备的数量越多其感知车辆周边环境的信息越大，同样计算量和成本越高，本申请实施例中对感知模块140包含的感知设备的数量不做限定。
在自动泊车功能的实现过程中，泊车计算模块110、泊车交互设备120、控制模块130和感知模块140是相互协调运作的，一个示例简单地描述这样的协调运作：感知模块140获取车辆周边的环境数据并将获取的环境数据发送给泊车计算模块110；泊车计算模块110对从感知模块140接收的环境数据进行处理得到车辆周边停车位的相关信息，并通过泊车交互设备120呈现包含停车位信息的泊车交互界面以供用户选定想要停入的停车位；泊车交互设备120接收用户选定停车位的指令并将用户选定的停车位告知泊车计算模块110；泊车计算模块110规划出使得车辆驶入用户选定的停车位的泊车路径并通过控制模块130生成控制指令控制车辆的执行设备使得车辆依据泊车路径驶入用户选定的停车位。
本申请实施例提供了一种自动泊车交互方法，参见图2，该自动泊车交互方法100包括以下步骤：
S101，接收泊车指令并响应于该泊车指令在显示屏中呈现泊车交互界面，其中泊车交互界面中显示有指示待泊车车辆的车辆图标和指示实际可泊车停车位的虚拟停车位。其中指示实际可泊车停车位的虚拟停车位具体是指：一个虚拟停车位对应一个实际可泊车停车位，也就是泊车交互界面中显示的虚拟停车位都与实际环境中的真实存在的能够停车的停车位存在对应关系，选定虚拟停车位也就是选定了其所指示的实际可泊车停车位。同样的，车辆图标与待泊车车辆存在对应关系。
可选的，车辆图标在泊车交互界面中的初始位置可以是预设位置，车辆图标在泊车交互 界面中的初始位置可以理解为泊车交互界面呈现时车辆图标初次在泊车交互界面中的位置，即车辆图标在用户拖拽操作前在泊车交互界面中的位置。具体的，预设位置可以是出厂设置的，也可以是由用户设置的。
可选的，车辆图标在泊车交互界面中的初始位置对应于待泊车车辆在实际环境中的初始地理位置，初始地理位置可以理解为自动泊车开始时待泊车辆在实际环境中的当前物理位置。
可选的，虚拟停车位在泊车交互界面中的位置为预设位置，具体的，预设位置可以是出厂设置的，也可以是由用户设置的。
可选的，虚拟停车位在泊车交互界面中的位置对应于虚拟停车位所指示的实际可泊车停车位在实际环境中的地理位置。可选的具体实现方式，在泊车交互界面中显示基于配置在待泊车车辆上的摄像头采集到的图像生成的俯视图像。俯视图像呈现的是摄像头采集到的以待泊车车辆为中心的区域的影像，俯视图像中的车辆图标用于替代待泊车车辆，车辆图标位于俯视图像的中心，通过俯视图像可以辨识待泊车车辆周边存在的停车位，即虚拟停车位。如果以待泊车车辆为中心的区域为16m*16m的正方形区域，俯视图像的每个像素代表2cm，则俯视图像的在泊车交互界面中的尺寸为800*800像素。本申请实施例对生成该俯视图的方法不做限定，可选的，通过对配置在待泊车车辆的摄像头采集的图像进行反向投影变换的方式生成俯视图像，其中配置在待泊车车辆上的摄像头的采集区域可以360度覆盖待泊车车辆的周边范围内的地面。
一个生成俯视图像的示例，4颗鱼眼摄像头部署在待泊车车辆的前保险杠上方、后保险杠上方、左侧后视镜下缘和右侧后视镜下缘，其中鱼眼摄像头的视场角为水平方向190度，垂直方向70度，且鱼眼摄像头朝向待泊车车辆的外侧。将4个鱼眼摄像头采集的影像通过反向投影变换分别将采集的影像投射为俯视图像中车辆图标的前侧、后侧、左侧和右侧的扇形，即生成俯视图像。生成待泊车车辆的俯视图像的关键在于将鱼眼摄像头采集的图像/影像合理地投影到俯视图像中，这是通过反向投影变换完成的。摄像头的投影矩阵为P＝K[R|T]，其中K为摄像头的内参矩阵，[R|T]为摄像头的的外参矩阵。内参数和外参数都是通过参数标定测量获得的。车体坐标系下点A通过投影矩阵，即可转换为摄像头坐标系下的点B，即：
B＝PA
车体坐标系的原点位于待泊车车辆后轴中心点在地面的投影点,以车头方向为x轴正方向，待泊车车辆左侧方向为y轴正方向。假设图像中每一点都在地面上，并且地面平整，图像左上角为像素坐标原点，可以计算俯视图像中的像素p(u,v)在车体坐标系中的坐标(x,y,0)。
x＝(400+(length/2–rear_distance)/0.02-v)*0.02
y＝(400–u)*0.02
通过投影矩阵，即可找到在相应的鱼眼摄像头成像中，该点对应的像素坐标。将鱼眼摄像头中对应点的亮度值填到俯视图像上，即可完成反向投影变换。进一步的，遍历俯视图像中所有点，对每个点进行反向投影变换，即可完成俯视图像。
可选的，泊车交互界面中还包括虚拟停车位所指示的实际可泊车停车位的参数信息，例如：虚拟停车位所指示的实际可泊车停车位是否适合待泊车车辆停入的信息，虚拟停车位所指示的实际可泊车停车位是否是边缘停车位，虚拟停车位所指示的实际可泊车停车位两边的停车位是否停有车辆等。该参数信息可以用于提示用户相关停车位的信息，作为用户在选择想要停入的停车位时的参考。参数信息可以是文字、数字、符号、颜色、图案等方式的描述，具体描述方式不做限定。
可选的，泊车交互界面中还包括不可泊车区域，不可泊车区域所指示的实际环境中的实际地理区域为待泊车车辆不能或者不适合停入的区域，可选的，不可泊车区域指示的实际地理区域可以是下面选项中的至少一种：已停车的实际停车位、与所述待泊车车辆尺寸不符合的实际可泊车停车位、有障碍物的实际停车位、非停车位区域等。可选的，虚拟停车位与不可泊车区域在泊车交互界面中可以通过文字描述、符号、数字、颜色等方式供用户辨识。例如不可泊车区域以灰色显示。关于不可泊车区域在泊车交互界面中的位置与虚拟停车位在泊车交互界面中的位置保持一致的设置。可选的，自动泊车交互方法100还包括：如果用户通过拖拽操作将车辆图标拖到不可泊车区域时，则提示用户此区域不适合或不能停车，和/或对车辆图标不进行吸附在不可泊车区域处理，进一步的，将车辆图标还原到其在泊车交互界面中的初始位置。
本申请实施例给出了两种泊车交互界面示例：
示例一：如图3所示，图3(a)是泊车交互界面的示意图，图3(b)是实际环境的示意图。虚拟停车位和不可泊车区域在泊车交互界面中的预设显示区域1显示，车辆图标在泊车交互界面中的预设显示区域2初始显示，即车辆图标的初始位置在预设显示区域2。在图3(a)所示的泊车交互界面中，车辆图标与虚拟停车位和不可泊车区域在泊车交互界面中的相对位置与实际环境中待泊车车辆与实际停车位的相对位置不关联，而是按照预设排序规则在预设显示区域1中显示。在本申请实施例中，图3(a)所示泊车交互界面中的左侧第二个虚拟停车指示图3(b)中下侧第二个实际停车位，如图3(b)所示，该实际停车位已停入车辆。因此在途3(a)中通过在左侧第二个虚拟停车上显示了车辆以表示其为不可泊车区域，在实际实现中也可以使用其他方式表示不可泊车区域，例如下面示例二描述的方式。可选的，在虚拟可泊车停车位在泊车交互界面的显示区域为预设位置时，可以不显示不可泊车区域，以图3为例，也就是不显示左侧第二个虚拟停车位，显示其他三个实际可泊车停车位的虚拟停车位。
示例二：如图4所示，图4(a)是泊车交互界面的示意图，图4(b)是实际环境的示意图。如图4所示，4(a)中的车辆图标与虚拟停车位和不可泊车区域在泊车交互界面中的相对位置与图4(b)中的待泊车车辆与实际停车位在实际环境中的相对位置保持一致。图4(a)中的上面左侧第二个虚拟停车位指示图4(b)中的左侧第二个实际停车位，图4(a)中的下面左侧第一个虚拟停车位指示图4(b)中的下面左侧第一个实际停车位，图4(a)中的下面右侧第一个虚拟停车位指示图4(b)中的下面右侧第一个实际停车位，由于图4(b)中的左侧第二个实际停车位、图4(b)中的下面左侧第一个实际停车位和图4(b)中的下面右侧第一个实际停车位已经有车辆停入，因此图4(a)中的下面左侧第一个虚拟停车位不可泊车区域、图4(a)中的下面右侧第一个虚拟停车位和图4(a)中的下面右侧第一个虚拟停车位是泊车交互界面中的不可泊车区域。
可选的，步骤S101中响应于泊车指令在显示屏中呈现泊车交互界面具体包括：获取待泊车车辆周围的实际停车位的信息；并根据获取的实际停车位的信息在泊车交互界面中显示虚拟停车位，使得泊车交互界面中显示的虚拟车位能够与待泊车车辆周围的实际停车位相对应。
S102，检测泊车交互界面对应的显示屏上触控区域的触控操作，触控操作使得车辆图标在泊车交互界面中移动。
可选的，检测泊车交互界面对应的显示屏上触控区域的拖拽操作，其中该车辆图标随着该拖拽操作在该泊车交互界面中移动。以图5所示的交互界面为例，参见图5，检测到用户将预设显示区域2的车辆图标由位置①拖拽至位置②后停止拖拽操作，即位置②为车辆图标 在泊车交互界面中移动后的位置。
可选的，检测泊车交互界面对应的显示屏上触控区域的点击操作，将车辆图标移动到点击操作的点击位置。
S103，获取车辆图标在泊车交互界面中移动后的位置，参见图5，即获取车辆图标在位置②的位置信息。
S104，根据车辆图标移动后的位置将该车辆图标吸附在泊车交互界面中的目标虚拟停车位上，吸附处理的作用可以使得该车辆图标与该泊车交互界面中的目标虚拟停车位相吻合，其中目标虚拟停车位为泊车交互界面中与移动后的车辆图标移动的位置关系满足预设条件的虚拟停车位。可选的，吸附处理后可以通过语音或者震动的方式反馈，进一步地，可以提示用户调整车辆图标的车头朝向，泊车交互界面中车辆图标的车头朝向代表了自动泊车完成后待泊车车辆在实际停车位中的车头朝向。
可选的，根据移动后的车辆图标与泊车交互界面中虚拟停车位的位置关系确定目标虚拟停车位。具体的，是根据移动后的车辆图标的中心点到虚拟停车位中心点的直线距离确定目标虚拟停车位，即将泊车交互界面中中心点与移动后的车辆图标的中心点的直线距离最短的虚拟停车位作为目标虚拟停车位，当然也要考虑车辆图标的中心点与目标虚拟停车位中心点的直线距离不能大于一定阈值，避免用户的无效拖拽导致将车辆图标吸附在虚拟停车位上，降低用户体验。可选的，在确定目标虚拟停车位时还可以考虑车辆图标与虚拟停车位之间的夹角。
一个实例，参见图5所示，移动后的车辆图标位于泊车交互界面的位置②，距离最右侧虚拟停车位最近，即移动后的车辆图标的中心点与泊车交互界面中最右侧的虚拟停车位的中心点之间的直线距离最短，因此，泊车交互界面中最右侧的虚拟停车位就是目标虚拟停车位，然后将车辆图标吸附在泊车交互界面中最右侧虚的拟停车位上，吸附后的效果可以参见图6所示。
在本申请实施例中，车辆图标指示待泊车车辆，虚拟停车位指示待泊车周围的实际可泊车停车位。可选的，车辆图标的大小也代表待泊车车辆的大小，虚拟停车位的大小也代表实际可泊车停车位的大小。关于车辆图标与目标虚拟停车位相吻合可以理解为：使得车辆图标落入目标虚拟停车位内，如图7(a)和图7(b)所示，对应地，表示自动泊车完成后待泊车车辆能够停入实际可泊车停车位中。进一步的，车辆图标与目标虚拟停车位相吻合可以理解为：车辆图标的中心点与目标虚拟停车位的中心点重合，且车辆图标的轮廓边线与相对应的目标虚拟停车位的轮廓边线平行，如图7(b)所示。
步骤S104中吸附处理的有益效果是：可以快速确定用户通过拖拽操作所要选定的目标虚拟停车位，并将车辆图标叠在目标虚拟停车位上达到吻合效果，使得用户在自动泊车开始前从泊车交互界面中直观地感受到“车停入了停车位”的效果，同时能够减少用户通过拖拽操作将车辆图标叠在目标虚拟停车位上达到吻合效果的复杂过程和时间。可选的，移动后的车辆图标与目标虚拟停车位的相对关系反映了自动泊车完成后待泊车车辆与目标虚拟停车位所指示的实际可泊车停车位的相对关系。
可选的，将车辆图标吸附在目标虚拟停车位上后还可以提示用户调整车辆图标的车头朝向，泊车交互界面中车辆图标的车头在目标虚拟停车位中的朝向表示自动泊车完成后待泊车车辆在目标虚拟停车位所指示的实际可泊车停车位中的朝向。具体的，在S104步骤之后，自动泊车交互方法100还包括：接收车头朝向调整指令，并根据该车头朝向调整指令调整图标车辆在目标虚拟停车位上的车头朝向。
可选的，接收车头朝向调整指令包括：检测车辆图标对应的显示屏上触控区域的旋转操作，其中车辆图标随着旋转操作在泊车交互界面中旋转；获取车辆图标在泊车交互界面中旋转后的车辆姿态；根据车辆姿态调整图标车辆在目标虚拟停车位上的车头朝向。可选的，经过用户的旋转操作使得车辆图标与目标虚拟停车位不再是之前吸附后的吻合状态时，可以重新将车辆图标吸附在目标虚拟停车位上。
可选的，上述根据车辆姿态调整图标车辆在目标虚拟停车位上的车头朝向包括：可以根据旋转后的车辆图标的纵向中轴线与虚拟停车位纵向中轴线之间的夹角调整图标车辆在目标虚拟停车位上的车头朝向。参见图8，检测用户将图8(a)中车辆图标以逆时针旋转成图8(b)中车辆图标的车辆姿态，可选的，根据旋转后的车辆图标的纵向中轴线的车头端轴线与虚拟停车位中轴线之间的最小夹角α(即锐角)确定车辆图标的车头靠近目标虚拟停车位的外侧还是内侧，在本申请实施例中虚拟停车位的外侧是指停车位的入口侧，相对应的虚拟停车位的内侧是指停车位的入口侧的对面一侧(即停车位底部)。如图8(b)所示，夹角α是目标虚拟停车位的纵向中轴线的外侧端轴线与车辆图标的纵向中轴线的车头端轴线的夹角，或者说车辆图标的纵向中轴线的车头端轴线靠近目标虚拟停车位的外侧，检测到如图8所示的旋转操作后，将车辆图标的车头朝向如图(a)所示调整成车头朝外如图8(c)所示，这也表示自动泊车后的待泊车车辆在实际停车位的车头朝向是车头朝外。
可选的，接收车头朝向调整指令包括：检测泊车交互界面中车头朝外虚拟按键或车头朝内虚拟按键的触控操作，并根据检测到触控操作调整图标车辆在目标虚拟停车位上的车头朝向。例如，当前车辆图标在目标虚拟停车位上的车头朝向是车头朝目标虚拟停车位内侧(即非停车位入口侧)，当检测到用户触控泊车交互界面中车头朝外虚拟按键，则将图标车辆在目标虚拟停车位上的车头朝向由车头朝目标虚拟停车位内调整为车头朝目标虚拟停车位外侧(及停车位入口侧)。
S105，生成泊车响应指令，该泊车响应指令使得自动泊车系统控制待泊车车辆驶入目标虚拟停车位所指示的实际可泊车停车位。具体的，该泊车响应指令可以包括目标虚拟停车位的信息或者目标虚拟停车位所指示的实际可泊车停车位的信息，以告知自动泊车系统用户选定的虚拟停车位或者目标实际可泊车停车位(目标虚拟停车位所指示的实际可泊车停车位)，使得自动泊车系统可以控制待泊车车辆驶入用户选定的虚拟停车位对应的实际可泊车停车位。
可选的，在步骤S105前，自动泊车交互方法100还包括：判断目标虚拟停车位所指示的实际可泊车停车位是否适合待泊车车辆停入；若适合，可以提示用户即将驶入目标虚拟停车位所指示的实际可泊车停车位，也可以不向用户提示直接执行步骤S105；若不合适，则提示目标虚拟停车位所指示的实际可泊车停车位不适合所述待泊车车辆停入，同时也可以提示用户通过拖拽操作重新选择目标虚拟停车位。在需要用户重新选择目标虚拟停车位的情况，可选的，车辆图标返回拖拽操作前的位置，即车辆图标在泊车交互界面中的初始位置；可选的，车辆图标的在泊车交互界面中的位置不发生变化，即依然吸附在当前选定的目标虚拟停车位上，待用户重新拖拽后再随着拖拽操作在泊车交互界面移动。可选的，可以通过文字、语音、颜色或者震动等中的至少一种方式提示用户目标虚拟停车位所指示的实际可泊车停车位是否适合待泊车车辆停入。
关于判断目标虚拟停车位所指示的实际可泊车停车位是否适合待泊车车辆停入，在具体实现中，可选的，至少存在两种可选的方式，一种是将待泊车车辆的尺寸数据和目标虚拟停车位对应的实际可泊车停车位的尺寸数据进行比较来判断；另一种是在车辆图标和虚拟停车 位的尺寸是待泊车车辆和虚拟停车位所指示的实际可泊车停车位的实际尺寸在泊车交互界面中的相同比例下的映射条件下，也就是泊车交互界面中的车辆图标的大小代表待泊车车辆的尺寸大小，同时目标虚拟停车位所指示的实际可泊车停车位虚拟停车位的大小代表其所指示的实际可泊车停车位的尺寸，这样就可以直接将车辆图标的尺寸与目标虚拟停车位的尺寸的比较来判断，在这种条件下，用户也可以直观的从泊车交互界面中看出目标虚拟停车位所指示的实际可泊车停车位的尺寸大小是否适合待泊车车辆停入。
进一步的，自动泊车交互方法100还包括：将泊车交互界面切换至泊车实时画面界面，泊车实时画面界面用于显示待泊车车辆通过摄像头实时采集的自动泊车过程中图像。可选的，还可以显示泊车轨迹信息。
可选的，自动泊车交互方法100可以由图1对应的实施例描述的泊车交互设备120实现。可选的，自动泊车交互方法100可以由配置在待泊车车辆的车载显示设备实现，也可以由移动终端(例如手机，平板电脑等)实现。
可选的，在步骤S101中响应于该泊车指令在显示屏中呈现泊车交互界面前，自动泊车交互方法100还包括：通过传感设备获取待泊车车辆周边的可泊车区域的数据；根据可泊车区域的数据以及预设规则将可泊车区域划分成多个实际可泊车停车位。这种情况一般是待泊车车辆周边没有停车位，本申请实施例提供的方法可以将待泊车车辆周边可泊车区域根据约束条件对可泊车区域进行划分成多个世界可泊车停车位，而不是将待泊车车辆停在获取到的可泊车区域的任意选定一个位置/区域，使得待泊车车辆周边可泊车区域得到更合理的应用，而且能够让用户从泊车交互界面中划分的实际可泊车停车位的情况供用户更人性化的选择想要停入的区域。这里约束条件不做任何限制，可以是标准停车位尺寸、停车位形态(垂直停车位或者侧方停车位)、或者更合理利用可泊车区域的原则划分等。
本申请实施例提供的自动泊车交互方法，应用在自动泊车系统中能够提高用户在停车位选择场景中的交互体验，拖拽操作和吸附调整功能进一步提高了用户在在停车位选择场景中便捷性和娱乐性。
本申请实施例提供了一种自动泊车交互装置，参见图9，该自动泊车交互装置100包括可以实现图2对应实施例描述的自动泊车交互方法100的各功能模块。下面结合图9示出的自动泊车交互装置100结构，简单地描述自动泊车交互装置100包括的接收模块101、显示模块102、触控检测模块103、吸附调整模块104和发送模块105。
接收模块101用于接收其他设备发送给自动泊车交互装置100的数据，具体地用于接收泊车指令。
显示模块102用于显示内容，具体地响应接收模块101接收到的泊车指令向用户呈现泊车交互界面，其中泊车交互界面中显示有指示待泊车车辆的车辆图标和指示实际可泊车停车位的虚拟停车位。
触控检测模块103用于通过检测显示模块102上的触控操作以及接收用户指令，触控操作使得车辆图标在泊车交互界面中移动。可选的，用于检测泊车交互界面中车辆图标对应的显示屏上触控区域的拖拽操作，并获取车辆图标在泊车交互界面中移动后的位置。可选的，检测泊车交互界面对应的显示屏上触控区域的点击操作，将车辆图标移动到点击操作的点击位置。
吸附调整模块104用于根据车辆图标移动后的位置将该车辆图标吸附在泊车交互界面中的目标虚拟停车位上，吸附处理的作用可以使得该车辆图标与该泊车交互界面中的目标虚拟停车位相吻合，其中目标虚拟停车位为泊车交互界面中与移动后的车辆图标移动的位置关系 满足预设条件的虚拟停车位。
发送模块105用于向其他设备/装置发送数据，具体地用于生成泊车响应指令并向自动泊车系统的发送该泊车响应指令使得自动泊车系统控制待泊车车辆驶入目标虚拟停车位所指示的实际可泊车停车位。
可选的，触控检测模块103还用于检测泊车交互界面中车头朝外虚拟按键或车头朝内虚拟按键的触控操作，以及吸附调整模块104还用于根据检测到的触控操作调整图标车辆在目标虚拟停车位上的车头朝向。
可选的，触控检测模块103还具体地用于检测车辆图标对应的显示屏上触控区域的旋转操作，其中车辆图标随着旋转操作在泊车交互界面中旋转；获取车辆图标在泊车交互界面中旋转后的车辆姿态。以及吸附调整模块104还用于根据触控检测模块103获取的车辆姿态调整图标车辆在目标虚拟停车位上的车头朝向。可选的，经过用户的旋转操作使得车辆图标与目标虚拟停车位不再是之前吸附后的吻合状态时，吸附调整模块104还用于重新将车辆图标吸附在目标虚拟停车位上。
可选的，自动泊车交互装置100还包括提示模块106，提示模块106用于吸附调整模块104将车辆图标吸附在目标虚拟停车位上后，通过通过文字、图案、文字信息、符号或声音等方式提提示用户调整车辆图标的车头朝向，泊车交互界面中车辆图标的车头在目标虚拟停车位中的朝向表示自动泊车完成后待泊车车辆在目标虚拟停车位所指示的实际可泊车停车位中的朝向。提示模块106还用于在发送模块105生成泊车响应指令之前，判断目标虚拟停车位所指示的实际可泊车停车位是否适合待泊车车辆停入；若适合，可以提示用户即将驶入目标虚拟停车位所指示的实际可泊车停车位；若不合适，则提示目标虚拟停车位所指示的实际可泊车停车位不适合所述待泊车车辆停入，同时也可以提示用户通过拖拽操作重新选择目标虚拟停车位。
可选的，显示模块102还用于将泊车交互界面切换至泊车实时画面界面，泊车实时画面界面用于显示待泊车车辆通过摄像头实时采集的自动泊车过程中图像。可选的，还可以显示泊车轨迹信息。
图9对应实施例描述的自动泊车交互装置100是图2对应实施例描述的自动泊车交互方法100对应装置，自动泊车交互装置100可以实现自动泊车交互方法包括的所有步骤。图9对应实施例没有描述的相关内容可以参见图2对应实施例的相关描述，此处不赘述。
本申请实施例提供了另一种自动泊车交互装置，参见图10，该自动泊车交互装置200可以实现图2对应实施例描述的自动泊车交互方法100。自动泊车交互装置200包括：存储器201、处理器202、通信接口203以及总线204。其中，存储器201、处理器202、通信接口203通过总线204实现彼此之间的通信连接。
存储器201可以是只读存储器，静态存储设备，动态存储设备或者随机存取存储器。存储器201可以存储程序，当存储器201中存储的程序被处理器202执行时，处理器202用于执行图2对应的本申请实施例中描述的自动泊车交互方法100。
处理器202可以采用通用的中央处理器，微处理器，应用专用集成电路，图形处理器(graphics processing unit，GPU)或者一个或多个集成电路，用于执行相关程序，以实现本申请实施例的信令分析装置中的单元所需执行的功能，或者执行本申请方法实施例的图像分割方法。处理器可实现图9中各模块的功能。
处理器202还可以是一种集成电路芯片，具有信号的处理能力。在实现过程中，本申请的图像分割方法的各个步骤可以通过处理器202中的硬件的集成逻辑电路或者软件形式的指 令完成。上述的处理器202还可以是通用处理器、数字信号处理器(Digital Signal Processing，DSP)、专用集成电路(ASIC)、现成可编程门阵列(Field Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。可以实现或者执行本申请实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。结合本申请实施例所公开的方法的步骤可以直接体现为硬件译码处理器执行完成，或者用译码处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器，闪存、只读存储器，可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器201，处理器202读取存储器201中的信息，结合其硬件(例如显示屏)完成本申请实施例的自动泊车交互装置100中包括的模块所需执行的功能，或者执行本申请方法实施例的自动泊车交互方法100。
通信接口203使用例如但不限于收发器一类的收发装置，来实现自动泊车交互装置200与其他设备或通信网络之间的通信。例如，可以通过通信接口203接收待泊车车辆周边实际停车位的数据。
总线204可包括在自动泊车交互装置200各个部件(例如，存储器201、处理器202、通信接口203)之间传送信息的通路。
应注意，尽管图10所示的自动泊车交互装置200仅仅示出了存储器、处理器、通信接口，但是在具体实现过程中，本领域的技术人员应当理解，自动泊车交互装置200还包括实现正常运行所必须的其他器件。同时，根据具体需要，本领域的技术人员应当理解，自动泊车交互装置200还可包括实现其他附加功能的硬件器件。此外，本领域的技术人员应当理解，自动泊车交互装置200也可仅仅包括实现本申请实施例所必须的器件，而不必包括图10所示的全部器件。
图9和图10对应实施例描述的自动泊车交互装置100和自动泊车交互装置200可以实现图1对应实施例描述的自动泊车系统100中的泊车交互设备120的功能。
结合上面的本申请实施例，本申请实施例提供了一种自动泊车方法，参见图11，自动泊车方法200包括以下步骤：
S201，接收用户的自动泊车指令，例如用户将车辆档位置于倒档而触发自动泊车指令。
S202，获取待泊车车辆周围预设范围的环境数据，例如通过传感设备获取待泊车车辆周围预设范围的环境数据。
S203，根据环境数据获取实际可泊车停车位的数据，本申请实施例对步骤203的具体实现方式不做任何限定。
S204，响应于自动泊车指令在显示屏中呈现泊车交互界面，其中泊车交互界面包括指示待泊车车辆的车辆图标和指示实际可泊车停车位的虚拟停车位。
S205，检测车辆图标对应的显示屏上触控区域的拖拽操作，并获取车辆图标在泊车交互界面中移动后的位置，其中车辆图标随着拖拽操作在泊车交互界面中移动。
S206，根据车辆图标移动后的位置将车辆图标吸附在目标虚拟停车位上，使得车辆图标与目标虚拟停车位相吻合，目标虚拟停车位为泊车交互界面中与移动后的车辆图标移动的位置关系满足预设条件的虚拟停车位；
S207，生成泊车响应指令，泊车响应指令包括目标虚拟停车位的信息。
S208，根据目标虚拟停车位的信息确定目标停车位并获取目标停车位的数据，目标停车位是指目标虚拟停车位指示的实际可泊车停车位。
S209，根据目标停车位的数据以及待泊车车辆的数据确定泊车路径，其中泊车路径是指 使待泊车车辆停入目标停车位的路径。
S210，根据泊车路径控制待泊车车辆驶入目标停车位。可选的，可以结合定位系统控制待泊车车辆驶入目标停车位。可选的，可以结合传感设备的感知能力控制待泊车车辆驶入目标停车位。
可选的，在步骤S206之后且步骤S207之前，自动泊车方法200还包括：S211，接收车头朝向调整指令并根据车头朝向调整指令调整图标车辆在目标虚拟停车位上的车头朝向。
可选的，在步骤S206之后且步骤S207之前，动泊车方法200还包括：S212，判断目标虚拟停车位所指示的实际可泊车停车位是否适合待泊车车辆停入；若不适合，则提示用户重新选择目标虚拟车位。
可选的，步骤S203具体包括：根据环境数据得知待泊车车辆周边不存在停车位而是可泊车区域(例如空地)，则根据环境数据以及预设规则将可泊车区域划分成多个实际可泊车停车位并获取实际可泊车停车位的数据。
需要说明的，图11对应的实施例描述的自动泊车方法可以理解为：图2对应实施例描述的自动泊车交互方法100应用在自动泊车方法200中，即自动泊车交互方法100与自动泊车规控方法的结合。为了避免描述过于冗余，与自动泊车交互方法100(具体的是S201，S204-S207)相关的描述可以参考图2对应实施例的相关描述，此处不再赘述。图1对应实施例描述的自动泊车系统100可以实现图11对应实施例描述的自动泊车方法的步骤，包括图2对应实施例描述的自动泊车交互方法100的步骤。
本申请实施例还提供了一种自动泊车系统，该自动泊车系统包括图9对应实施例描述的自动泊车交互装置100或者图10对应实施例描述的自动泊车交互装置200，可以实现图2对应实施例描述的自动泊车交互方法100和图11对应实施例描述的自动泊车方法200。
本申请实施例还提供了一种芯片，包括至少一个处理器，该至少一个处理器与存储器耦合，该存储器中存储有指令，当该存储器中存储的指令被该至少一个处理器执行时，至少一个处理器结合相关硬件用于执行图11对应实施例描述的自动泊车方法200。
本申请实施例还提供了一种自动泊车系统，参见图12，该自动泊车系统包括：
环视摄像头用于采集待泊车车辆周边360度环境的图像。
俯视图拼接模块用于将环视摄像头拍采集的图像通过反向投影变换生成待泊车车辆周边区域的俯视图，可选的，待泊车车辆周边区域的俯视图是以待泊车车辆为中心的图像。
显示模块用于在显示屏中显示泊车交互界面，泊车交互界面包括待泊车车辆周边区域的俯视图和指示待泊车车辆的车辆图标。感知模块用于感知待泊车车辆周边区域内的地面标记线等目标和/或感知车辆周边可行驶区域。
检测模块用于检测用户在显示屏上的触控操作，例如点击操作、拖拽操作和旋转操作等，具体的，检测用户对显示屏的触控操作，将车辆图标移动到触控操作发生的位置；检测用户对车辆图标的触控操作，将车辆图标的朝向调整到触控操作指定的朝向。可选的，触控操作包括对显示屏的点击操作，当用户点击屏幕时，将车辆图标移动到点击位置，朝向不变；或者是对车辆图标的拖拽操作，车辆图标跟着手指拖拽的轨迹移动；或者对车辆图标的旋转操作，车辆图标的朝向跟着旋转的方向运动。
车辆调整模块用于检测车辆图标的位置和朝向，并获取与车辆图标的位置和朝向匹配的可行区域边缘或者地面标志线作为匹配结果，并根据匹配结果自适应调整车辆图标，以及根据车辆图标的位置和朝向生成虚拟停车位。
具体的，车辆调整模块用于：当触控操作结束时，将车辆图标与俯视图中地面标记线的 边缘、可行区域边缘中的一种或多种进行匹配，其中地面标记线可以是路边停车线、停车位的边缘线等，可行区域边缘指待泊车车辆可以行驶的区域和不可行驶的区域的边界，例如障碍物边缘，墙壁等。可选的，匹配的方法是比较车辆图标与边缘标记、可行区域边缘的朝向和中心距离。当车辆图标方向和边缘方向的夹角小于指定阈值，并且车辆图标的中心位置与边缘距离小于阈值时，则认为匹配。可泊区域、地面标记线等信息可以通过图像分割方法获得，或者通过线检测方法获得。可选的，系统通过机器学习方法为俯视图的每一个像素添加一个标签，表明该像素是可泊区域、标记线段或者障碍物等。湖综合通过传统机器视觉的线检测等方法，即识别出边缘线。在停车场景，用户倾向于待泊车车辆与地面标记线、或者障碍物的边缘对齐，根据这一原则，获得匹配结果。
进一步的，车辆调整模块还用于：对车辆图标的位置和朝向进行自适应调整。具体的，确实存在匹配结果时，自适应调整车辆图标的朝向和位置，使车辆图标与匹配结果对齐；并通过震动反馈，提示音提示用户车辆图标进行自适应调整。车辆图标不完全位于可行区域内时，匹配可行区域的边缘，并将车辆图标调整到可行区域内。可选的，自适应调整可使用多种策略中的一种或者多种：自适应调整可以调整车辆图标的朝向，使得车辆图标的朝向与匹配结果一致；自适应调整可以调整车辆图标的位置，使得车辆图标与匹配结果贴近；自适应调整可以调整车辆图标的位置，使得车辆图标位于多个匹配结果的中心。
进一步的，车辆调整模块还用于：根据自适应调整后的车辆图标的位置和朝向生成虚拟停车位，其中虚拟停车位对应于实际环境的真实停车区域(例如停车位)，真实停车区域的位置和朝向与虚拟停车位相一致。
路径规划模块用于规划从待泊车车辆当前位置移动到生成虚拟停车位对应的真实停车位的路径；车辆控制模块用于控制待泊车车辆的执行设备实现路径规划模块规划的泊车路径，控制待泊车车辆停入选定的停车位。
最后应说明的是：以上各实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述各实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。

Claims (29)

  1. 一种自动泊车交互方法，其特征在于，包括：
    接收泊车指令并响应于所述泊车指令呈现泊车交互界面，所述泊车交互界面中包括指示待泊车车辆的车辆图标和指示实际可泊车停车位的虚拟停车位；
    检测作用于所述泊车交互界面上的触控操作，所述触控操作使得所述车辆图标在所述泊车交互界面中移动；
    获取所述车辆图标在所述泊车交互界面中移动后的位置；
    根据所述车辆图标移动后的位置将所述车辆图标吸附在目标虚拟停车位上，使得所述车辆图标与所述目标虚拟停车位相吻合，所述目标虚拟停车位为所述泊车交互界面中与移动后的所述车辆图标的位置关系满足预设条件的所述虚拟停车位；
    生成泊车响应指令，以使得自动泊车系统控制所述待泊车车辆驶入所述目标虚拟停车位所指示的实际可泊车停车位。
  2. 根据权利要求1所述的方法，其特征在于，所述检测作用于所述泊车交互界面上的触控操作包括：
    检测作用于所述车辆图标上的拖拽操作，所述车辆图标随着所述拖拽操作在所述泊车交互界面中移动。
  3. 根据权利要求1所述的方法，其特征在于，所述检测作用于所述泊车交互界面上的触控操作包括：
    检测作用于所述泊车交互界面上的点击操作，并将所述车辆图标移动到所述点击操作在所述泊车交互界面中的点击位置。
  4. 根据权利要求1-3中任一项所述的方法，其特征在于，在所述根据所述车辆图标移动后的位置将所述车辆图标吸附在目标虚拟停车位上之后，还包括：
    接收车头朝向调整指令，并根据所述车头朝向调整指令调整所述图标车辆在所述目标虚拟停车位上的车头朝向。
  5. 根据权利要求4所述的方法，其特征在于，所述接收车头朝向调整指令包括：
    检测作用于所述车辆图标上的旋转操作，所述车辆图标随着所述旋转操作在所述泊车交互界面中旋转；
    获取所述车辆图标在所述泊车交互界面中旋转后的车辆姿态；
    根据所述车辆姿态调整所述图标车辆在所述目标虚拟停车位上的车头朝。
  6. 根据权利要求1-5中任一项所述的方法，其特征在于，所述车辆图标与所述目标虚拟停车位吻合表示：所述车辆图标的中心点与所述目标虚拟停车位的中心点重合，且所述车辆图标的轮廓边线与相对应的所述目标虚拟停车位的轮廓边线平行。
  7. 根据权利要求1-6中任一项所述的方法，其特征在于，所述车辆图标在所述泊车交互界面中的初始位置为预设位置，或者，所述车辆图标在所述泊车交互界面中的初始位置与所述待泊车车辆在实际环境中的初始地理位置对应。
  8. 根据权利要求1-7中任一项所述的方法，其特征在于，所述虚拟停车位在所述泊车交互界面中的位置为预设位置，或者，所述虚拟停车位在所述泊车交互界面中的位置与所述虚拟停车位所指示的实际可泊车停车位在实际环境中的地理位置对应。
  9. 根据权利要求1-8中任一项所述的方法，其特征在于，所述泊车交互界面中还包括所述虚拟停车位所指示的实际可泊车停车位的参数信息。
  10. 根据权利要求1-9中任一项所述的方法，其特征在于，所述泊车交互界面中还包括不可 泊车区域，所述不可泊车区域用于指示实际环境中不适合或者不能停入所述待泊车车辆的实际地理区域。
  11. 根据权利要求1-10中任一项所述的方法，其特征在于，在所述生成泊车响应指令之前，还包括：
    如果所述目标虚拟停车位所指示的实际可泊车停车位不适合所述待泊车车辆停入的，提示用户重新选择所述目标虚拟停车位。
  12. 根据权利要求11所述的方法，其特征在于，在所述提示用户重新选择所述目标虚拟停车位之前，还包括：
    根据所述车辆图标的尺寸与所述目标虚拟停车位的尺寸判断所述目标虚拟停车位所指示的实际可泊车停车位是否适合所述待泊车车辆停入。
  13. 根据权利要求11所述的方法，其特征在于，在所述提示用户重新选择所述目标虚拟停车位之前，还包括：
    根据所述待泊车车辆的尺寸和所述目标虚拟停车位所指示的实际可泊车停车位的尺寸判断所述目标虚拟停车位所指示的实际可泊车停车位是否适合所述待泊车车辆停入。
  14. 根据权利要求1-13中任一项所述的方法，其特征在于，所述泊车交互界面包括的虚拟停车位所指示的实际可泊车停车位为实际环境中可泊车区域被自动泊车系统划分的停车位。
  15. 一种自动泊车交互装置，其特征在于，所述自动泊车交互装置包括：接收模块、显示模块、触控检测模块、吸附调整模块和发送模块；
    所述接收模块用于接收泊车指令；
    所述显示模块用于响应于所述泊车指令呈现泊车交互界面，所述泊车交互界面中包括指示待泊车车辆的车辆图标和指示实际可泊车停车位的虚拟停车位；
    所述触控检测模块用于检测作用于所述泊车交互界面上的触控操作，所述触控操作使得所述车辆图标在所述泊车交互界面中移动，并获取所述车辆图标在所述泊车交互界面中移动后的位置；
    所述吸附调整模块用于根据所述车辆图标移动后的位置将所述车辆图标吸附在目标虚拟停车位上，使得所述车辆图标与所述目标虚拟停车位相吻合，所述目标虚拟停车位为所述泊车交互界面中与移动后的所述车辆图标的位置关系满足预设条件的所述虚拟停车位；
    发送模块用于生成泊车响应指令并向自动泊车系统的发送所述泊车响应指令使得所述自动泊车系统控制待泊车车辆驶入所述目标虚拟停车位所指示的实际可泊车停车位。
  16. 根据权利要求15所述的自动泊车交互装置，其特征在于，所述触控检测模块还用于检测作用于所述车辆图标上的旋转操作，所述车辆图标随着所述旋转操作在所述泊车交互界面中旋转，并获取所述车辆图标在所述泊车交互界面中旋转后的车辆姿态；
    所述吸附调整模块还用于根据所述车辆姿态调整所述图标车辆在所述目标虚拟停车位上的车头朝。
  17. 根据权利要求15或16所述的自动泊车交互装置，其特征在于，还包括:提示模块；
    所述提示模块用于如果所述目标虚拟停车位所指示的实际可泊车停车位不适合所述待泊车车辆停入的，提示用户重新选择所述目标虚拟停车位。
  18. 根据权利要求17所述的自动泊车交互装置，其特征在于，所述提示模块还用于根据所述车辆图标的尺寸与所述目标虚拟停车位的尺寸判断所述目标虚拟停车位所指示的实际可泊车停车位是否适合所述待泊车车辆停入。
  19. 根据权利要求17所述的自动泊车交互装置，其特征在于，所述提示模块还用于根据所述 待泊车车辆的尺寸和所述目标虚拟停车位所指示的实际可泊车停车位的尺寸判断所述目标虚拟停车位所指示的实际可泊车停车位是否适合所述待泊车车辆停入。
  20. 根据权利要求15-19中任一项所述的自动泊车交互装置，其特征在于，所述车辆图标与所述目标虚拟停车位吻合表示：所述车辆图标的中心点与所述目标虚拟停车位的中心点重合，且所述车辆图标的轮廓边线与相对应的所述目标虚拟停车位的轮廓边线平行。
  21. 根据权利要求15-20中任一项所述的自动泊车交互装置，其特征在于，所述车辆图标在所述泊车交互界面中的初始位置为预设位置，或者，所述车辆图标在所述泊车交互界面中的初始位置与所述待泊车车辆在实际环境中的初始地理位置对应。
  22. 根据权利要求15-21中任一项所述的自动泊车交互装置，其特征在于，所述虚拟停车位在所述泊车交互界面中的位置为预设位置，或者，所述虚拟停车位在所述泊车交互界面中的位置与所述虚拟停车位所指示的实际可泊车停车位在实际环境中的地理位置对应。
  23. 根据权利要求15-22中任一项所述的自动泊车交互装置，其特征在于，所述泊车交互界面中还包括所述虚拟停车位所指示的实际可泊车停车位的参数信息。
  24. 根据权利要求15-23中任一项所述的自动泊车交互装置，其特征在于，所述泊车交互界面中还包括不可泊车区域，所述不可泊车区域用于指示实际环境中不适合或者不能停入所述待泊车车辆的实际地理区域。
  25. 根据权利要求15-24中任一项所述的自动泊车交互装置，其特征在于，所述泊车交互界面包括的虚拟停车位所指示的实际可泊车停车位为实际环境中可泊车区域被自动泊车系统划分的停车位。
  26. 一种自动泊车交互装置，其特征在于，包括处理器、存储器，其中所述存储器存储有指令，当所述存储器存储的指令被所述处理器调用时用于执行权利要求1-14中任一项所述的方法。
  27. 一种自动泊车系统，其特征在于，所述自动泊车系统包括权利要求15-25中任一项所述的自动泊车交互装置，或者权利要求26所述的自动泊车交互装置。
  28. 根据权利要求27所述的自动泊车系统，其特征在于，所述自动泊车系统还包括：泊车计算模块和控制模块；
    所述自动泊车交互装置具体用于将泊车响应指令发送给所述泊车计算模块，所述泊车响应指令包括目标虚拟停车位的信息；
    所述泊车计算模块用于接收所述泊车响应指令，并根据所述泊车响应指令获取所述目标虚拟停车位指示的实际可泊车停车位，以及规划从待泊车车辆当前位置驶入所述目标虚拟停车位指示的实际可泊车停车位的泊车路径；
    所述控制模块用于根据所述泊车路径控制所述待泊车车辆停入所述目标虚拟停车位指示的实际可泊车停车位。
  29. 一种汽车，其特征在于，所述汽车包括权利要求15-25中任一项所述的自动泊车交互装置，或者权利要求26所述的自动泊车交互装置，或者，权利要求27或28所述的自动泊车系统。
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