WO2022148348A1 - 车位显示方法、装置、电子设备及存储介质 - Google Patents
车位显示方法、装置、电子设备及存储介质 Download PDFInfo
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- WO2022148348A1 WO2022148348A1 PCT/CN2022/070127 CN2022070127W WO2022148348A1 WO 2022148348 A1 WO2022148348 A1 WO 2022148348A1 CN 2022070127 W CN2022070127 W CN 2022070127W WO 2022148348 A1 WO2022148348 A1 WO 2022148348A1
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
- G08G1/143—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces inside the vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
Definitions
- the present application relates to the technical field of parking space display, and in particular, to a parking space display method, device, electronic device and storage medium.
- UI User Interface, user interface
- the user interface is related software designed to communicate with each other between the user and the hardware. The purpose is to enable the user to operate the hardware conveniently and efficiently to achieve two-way interaction and complete the desired work with the help of the hardware.
- the vehicle When the vehicle enters the parking lot, it will collect the parking space information in the parking lot and display it on the in-vehicle UI interface to guide the user to select the parking space.
- the arrangement of the images displayed on the UI interface based on the parking space information cannot visually correspond to the actual arrangement of the parking spaces, which reduces the user experience.
- the present application provides a parking space display method, device, electronic device and storage medium, which are used to solve or partially solve the problem that the layout of images displayed on a UI interface based on parking space information cannot correspond to the actual layout of parking spaces, and the interface display Clutter, technical issues that degrade the user experience.
- a first aspect of the present application provides a parking space display method, including: when a vehicle enters a preset parking lot, acquiring parking space information of multiple parking spaces; generating a set of adjacent parking spaces based on the parking space information; Extracting a reference direction and a reference parking space from the set; using the reference direction and the reference parking space to correct the adjacent parking space set to generate parking space display parameters; displaying the parking space in a preset user interface based on the parking space display parameters.
- the step of acquiring the parking space information of a plurality of parking spaces when the vehicle enters the preset parking lot includes: when the vehicle enters the preset parking lot, collecting the first parking space detection algorithm in real time through a preset first parking space detection algorithm. a parking space information; use the first parking space information to generate a parking space set; collect second parking space information in real time through a preset second parking space detection algorithm; map the parking space set and the second parking space information into a preset coordinate system to obtain parking space information.
- the parking space information includes the corner coordinates of the parking space; the step of generating a set of adjacent parking spaces based on the parking space information includes: separately calculating the distance between the corner coordinates of any two parking spaces. value; obtain the direction angle of each parking space; determine two parking spaces with and only two distance values within the preset range, and the difference between the direction angles is less than the preset value as adjacent Parking spaces, generate a collection of adjacent parking spaces.
- the step of extracting a reference direction and a reference parking space from the set of adjacent parking spaces includes: determining a median value of the direction angles of all the parking spaces; extracting the phase angle based on the median value.
- the reference direction of the set of adjacent parking spaces; the current motion state of the vehicle is obtained, and a reference parking space is extracted from the set of adjacent parking spaces based on the current motion state.
- the step of using the reference direction and the reference parking space to correct the set of adjacent parking spaces to generate parking space display parameters includes: obtaining the coordinates of the first corner point of the reference parking space; A corner point coordinate, the reference direction, a preset first length, and a preset second length are calculated to obtain the first corrected corner point coordinates of the reference parking space; the reference parking space is obtained from the adjacent parking space set Adjacent parking spaces; based on the first corner coordinates and the first corrected corner coordinates, determine the second corrected corner coordinates of the adjacent parking spaces; set the adjacent parking spaces as the reference parking spaces, and jump Execute the step of acquiring adjacent parking spaces of the reference parking space from the adjacent parking space set; after completing the correction of all the parking spaces in the adjacent parking space set, generate parking space display parameters.
- the first parking space detection algorithm includes a panoramic surveillance image system algorithm
- the second parking space detection algorithm includes an ultrasonic algorithm
- the method further includes: after collecting the first parking space information, The collection of parking spaces is updated in real time, including information on deleting duplicate parking spaces, adding information on new parking spaces, and removing information on parking spaces beyond the collection range.
- a second aspect of the present application provides a parking space display device, comprising: a parking space information acquisition module for acquiring parking space information of a plurality of parking spaces when a vehicle enters a preset parking lot; an adjacent parking space set generation module for The parking space information is generated, and a set of adjacent parking spaces is generated; a reference direction and reference parking space extraction module is used to extract a reference direction and a reference parking space from the adjacent parking space set; a parking space display parameter generation module is used to adopt the reference direction and all the reference parking spaces. the reference parking space, correcting the adjacent parking space set, and generating parking space display parameters; a parking space display module for displaying the parking space in a preset user interface based on the parking space display parameters.
- the parking space information acquisition module includes: a first parking space information collection sub-module, configured to collect the first parking space information in real time through a preset first parking space detection algorithm when the vehicle enters a preset parking lot; A parking space set generation sub-module is used to generate a parking space set by using the first parking space information; a second parking space information collection sub-module is used to collect the second parking space information in real time through a preset second parking space detection algorithm; a parking space information acquisition sub-module , which is used to map the parking space set and the second parking space information into a preset coordinate system to obtain parking space information.
- the parking space information includes the corner coordinates of the parking spaces;
- the adjacent parking space set generation module includes: a distance value calculation sub-module for calculating the distance between the corner coordinates of any two parking spaces respectively. distance value;
- the direction angle acquisition sub-module is used to obtain the direction angle of each of the parking spaces;
- the adjacent parking space set generation sub-module is used to obtain one and only two distance values within the preset range, and the direction angle
- the two parking spaces whose difference is smaller than the preset value are determined as adjacent parking spaces, and a set of adjacent parking spaces is generated.
- the reference direction and reference parking space extraction module includes: a median value determination sub-module for determining the median value of the direction angles of all parking spaces; a reference direction extraction sub-module for based on the median value Extract the reference direction of the adjacent parking space set; the reference parking space extraction sub-module is used to obtain the current motion state of the vehicle, and extract the reference parking space from the adjacent parking space set based on the current motion state.
- the parking space display parameter generation module includes: a first corner coordinate acquisition sub-module for acquiring the first corner coordinates of the reference parking space; a first corrected corner coordinate calculation sub-module for using The coordinates of the first corner point, the reference direction, the preset first length, and the preset second length are calculated to obtain the coordinates of the first corrected corner point of the reference parking space; the adjacent parking space acquisition sub-module is used to obtain the reference from the adjacent parking space set The adjacent parking spaces of the parking space; the second correction corner coordinate determination submodule is used to determine the second corrected corner coordinates of the adjacent parking spaces based on the first corner coordinates and the first corrected corner coordinates; the jump submodule is used It is used to set the adjacent parking spaces as the reference parking spaces, and jump to execute the steps of obtaining the adjacent parking spaces of the reference parking spaces from the adjacent parking spaces collection; After the correction, the parking space display parameters are generated.
- a third aspect of the present application provides an electronic device, the device includes a processor and a memory: the memory is used to store program codes, and transmit the program codes to the processor; the processor is used to store program codes according to the The instructions in the program code execute the parking space display method described in any one of the above.
- a fourth aspect of the present application provides a computer-readable storage medium, where the computer-readable storage medium is used to store program codes, and the program codes are used to execute the parking space display method according to any one of the above.
- the embodiments of the present application generate a set of adjacent parking spaces based on the information of the parking spaces by acquiring the parking space information of the parking spaces, so as to obtain the arrangement order of the parking spaces; and then extract the set of adjacent parking spaces.
- the reference direction and the reference parking space are used to correct the display data of the parking spaces in the adjacent parking space set according to the reference direction and the reference parking space, so that the parking spaces displayed on the user interface based on the parking space display parameters are arranged closer to the actual arrangement of the parking spaces form, optimize the interface display effect, and improve the user experience.
- FIG. 1 is a flowchart of steps of a parking space display method provided by an embodiment of the present application.
- FIG. 2 is a flowchart of steps of a parking space display method provided by another embodiment of the present application.
- Fig. 3a is a parking space display effect before correction provided by an embodiment of the application
- FIG. 3b is a corrected parking space display effect provided by an embodiment of the application.
- FIG. 4 is a structural block diagram of a parking space display device according to an embodiment of the present application.
- first, second, third, etc. may be used in this application to describe various information, such information should not be limited by these terms. These terms are only used to distinguish the same type of information from each other.
- first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information without departing from the scope of the present application.
- second information may also be referred to as the first information without departing from the scope of the present application.
- a feature defined as “first” or “second” may expressly or implicitly include one or more of that feature.
- “plurality” means two or more, unless otherwise expressly and specifically defined.
- Embodiments of the present application provide a parking space display method, device, electronic device, and storage medium, which are used to solve or partially solve the problem that the layout of images displayed on a UI interface based on parking space information cannot correspond to the actual layout of parking spaces,
- the interface display is cluttered and technical issues that degrade the user experience.
- FIG. 1 is a flowchart of steps of a parking space display method provided by an embodiment of the present application.
- Step 101 when the vehicle enters a preset parking lot, obtain parking space information of multiple parking spaces.
- the parking space information of multiple parking spaces in the parking lot can be obtained, so as to display the layout of the parking spaces to the user based on the parking space information.
- a collection range can be set with the vehicle as the center, and the collection range can be collected. At the same time, with the movement of the vehicle, the parking spaces within the collection range will change. Therefore, during the movement of the vehicle, the collection of parking space information is continuous to continuously update the collected parking spaces. information.
- Step 102 based on the parking space information, generate a set of adjacent parking spaces.
- the relative positional relationship between any two parking spaces can be determined based on the parking space information of each parking space, and according to certain constraints, it can be determined whether the two parking spaces are adjacent to each other, By integrating adjacent parking spaces, a collection of adjacent parking spaces can be obtained.
- Step 103 Extract the reference direction and the reference parking space from the adjacent parking spaces set.
- the reference direction and reference parking space of the adjacent parking space set can be determined.
- the reference direction may be a direction angle representing the overall orientation trend of the parking spaces in the adjacent parking spaces set, and may also be selected according to the actual scene; the reference parking space may be set according to different scenarios.
- the embodiments of the present application are not specifically limited.
- Step 104 using the reference direction and the reference parking space to correct the set of adjacent parking spaces to generate parking space display parameters.
- Step 105 displaying the parking spaces in the preset user interface based on the parking space display parameters.
- the display parameters of all parking spaces in the adjacent parking space set can be corrected according to the reference direction and the reference parking space, so that the display parameters are performed on the preset user interface according to the display parameters.
- a parking space display effect with a certain display regularity can be obtained.
- a set of adjacent parking spaces is generated based on the parking space information, so as to obtain the arrangement order of the parking spaces; and then the reference direction and the reference parking space are extracted from the adjacent parking space set, so as to correct the reference direction and the reference parking space according to the reference direction and the reference parking space.
- the display data of the parking spaces in the adjacent parking spaces set makes the arrangement of the parking spaces displayed on the user interface based on the parking space display parameters closer to the actual arrangement of the parking spaces, which optimizes the interface display effect and improves the user experience.
- FIG. 2 is a flowchart of steps of a parking space display method provided by another embodiment of the present application, which may include the following steps:
- Step 201 when the vehicle enters a preset parking lot, collect first parking space information in real time through a preset first parking space detection algorithm.
- the first parking space information of multiple parking spaces in the parking lot may be obtained, so as to display the layout of the parking spaces to the user based on the first parking space information.
- a collection range can be set centered on the vehicle, and the collection range can be collected.
- the acquisition of the first parking space may be performed by using an AVM (Around View Monitor, panoramic surveillance image system) algorithm.
- the AVM algorithm can capture images through multiple (usually four) super wide-angle fisheye lenses, and perform distortion correction and stitching on the captured images through a special algorithm to form a panorama around the object, so as to identify the parking space and obtain the first parking space. parking space information.
- Step 202 generating a parking space set by using the first parking space information.
- a parking space set may be generated based on the first parking space information, for example, based on all the first parking space information, and the parking spaces are used to record the first parking space information of the parking spaces collected at the current moment.
- the collected first parking space information of the parking space is constantly changing. Therefore, after the first parking space information is collected at each moment, the parking space set can be updated in real time, including deleting duplicate parking spaces. information, information on adding new parking spaces, and information on excluding parking spaces beyond the collection range.
- Step 203 Collect second parking space information in real time by using a preset second parking space detection algorithm.
- only the parking space information collection is performed by the AVM algorithm, and some parking spaces may not be collected. Therefore, the comprehensiveness of parking space collection can be further improved, and the lack of parking space collection can be avoided. In addition, only using the AVM to collect the parking space may cause the collected first parking space information to reflect the parking space position inaccurately, so the accuracy of the collected parking space information can be further improved.
- the embodiment of the present application introduces another parking space collection method to collect the second parking space information of the parking space, and improves the collection comprehensiveness and collection accuracy of the parking space by combining the first parking space information and the second parking space information.
- an ultrasonic algorithm may be selected to collect the second position information of the parking space.
- a person skilled in the art can select a parking space collection manner that conforms to a usage scenario according to actual needs, which is not specifically limited in this embodiment of the present application.
- Step 204 Map the parking space set and the second parking space information into a preset coordinate system to obtain the parking space information.
- the first parking space information and the second parking space information can be transformed into the same coordinate system to integrate the first parking space information and the second parking space information.
- Second parking space information get more comprehensive and accurate parking space information.
- Step 205 based on the parking space information, generate a set of adjacent parking spaces.
- the relative positional relationship between any two parking spaces can be determined based on the parking space information of each parking space; according to certain constraints, it can be determined whether the two parking spaces are adjacent; By integrating adjacent parking spaces, a collection of adjacent parking spaces can be obtained.
- S13 Determining two parking spaces with and only two distance values within the preset range and the difference between the direction angles being less than the preset value as adjacent parking spaces, and generating a set of adjacent parking spaces.
- the distance value between the 8 corner point coordinates of any parking space can be calculated by obtaining the coordinates of 4 corner points of the parking space, if and only if there are only two distance values in the Within the preset range, and the angle difference between the direction angles of the two parking spaces is less than the preset value, it can be determined that the two parking spaces are adjacent parking spaces.
- the information of all adjacent parking spaces can be obtained to generate a set of adjacent parking spaces.
- Step 206 extract the reference direction and the reference parking space from the adjacent parking spaces set.
- the reference direction and reference parking space of the adjacent parking space set may be determined.
- the reference direction may be a direction representing the overall orientation trend of the parking spaces in the adjacent parking space set
- the angle can also be selected according to the actual scene; the reference parking space can be set according to different scenes, and the selection of the reference direction and the reference parking space is not specifically limited in the embodiment of the present application.
- the step of extracting the reference direction and the reference parking space from the adjacent parking spaces set may include the following sub-steps:
- S23 Acquire a current motion state of the vehicle, and extract a reference parking space from a set of adjacent parking spaces based on the current motion state.
- the direction angles of all the parking spaces in the adjacent parking space set can be obtained, sorted according to the size, the median value is determined, and the median value is determined as the reference direction .
- the direction angle is the included angle between the vehicle body direction and the arrangement direction of the vehicles in the adjacent parking space set.
- a person skilled in the art can select a direction angle according to requirements, which is not specifically limited in this embodiment of the present application.
- Step 207 using the reference direction and the reference parking space to correct the set of adjacent parking spaces to generate parking space display parameters.
- Step 208 displaying the parking spaces in the preset user interface based on the parking space display parameters.
- the display parameters of all parking spaces in the adjacent parking space set can be corrected according to the reference direction and the reference parking space, so that when the user interface is displayed according to the display parameters , a parking space display effect with a certain display regularity can be obtained.
- the step of using the reference direction and the reference parking space to correct the set of adjacent parking spaces to generate the parking space display parameters may include the following sub-steps:
- the adjacent parking spaces are set as the reference parking spaces, and jump to execute the step of obtaining the adjacent parking spaces of the reference parking spaces from the adjacent parking spaces set;
- parking space 1 is set as a reference parking space
- parking space 2 is an adjacent parking space
- AB is a reference direction
- W is a preset first length
- L is a preset second length
- C1, D1, E1, and F1 are the original corner coordinates of the reference parking space
- C2, D2, E2, and F2 are the original corner coordinates of the parking space 2.
- the coordinates of the first corrected corner point of parking space 1 can be calculated by the following steps:
- the first correction corner coordinate E1 ' of E1 can be calculated;
- the coordinates of the second corrected corner point of parking space 2 can be calculated through the following steps:
- the parking space display parameters of the adjacent parking space set can be generated.
- a set of adjacent parking spaces is generated based on the parking space information, so as to obtain the arrangement order of the parking spaces; and then the reference direction and the reference parking space are extracted from the adjacent parking space set, so as to correct the reference direction and the reference parking space according to the reference direction and the reference parking space.
- the display data of the parking spaces in the adjacent parking spaces set makes the arrangement of the parking spaces displayed on the user interface based on the parking space display parameters closer to the actual arrangement of the parking spaces, which optimizes the interface display effect and improves the user experience.
- FIG. 4 is a structural block diagram of a parking space display device according to an embodiment of the present application.
- a parking space display device which may include:
- the parking space information acquisition module 401 is used to acquire the parking space information of a plurality of parking spaces when the vehicle enters the preset parking lot;
- the parking space display parameter generation module 404 is configured to use the reference direction and the reference parking space to correct the set of adjacent parking spaces to generate parking space display parameters;
- the parking space display module 405 is configured to display the parking space in the preset user interface based on the parking space display parameter.
- the parking space information acquisition module 401 may include:
- the first parking space information collection sub-module is used to collect the first parking space information in real time through the preset first parking space detection algorithm when the vehicle enters the preset parking lot;
- the parking space set generation sub-module is used to generate a parking space set by using the first parking space information
- the second parking space information collection sub-module is used to collect the second parking space information in real time through the preset second parking space detection algorithm
- the parking space information acquisition sub-module is used to map the parking space set and the second parking space information into a preset coordinate system to obtain the parking space information.
- the parking space information includes the corner coordinates of the parking space;
- the adjacent parking space set generating module 402 may include:
- the distance value calculation sub-module is used to calculate the distance value between the coordinates of each corner point of any two parking spaces
- the direction angle acquisition sub-module is used to obtain the direction angle of each parking space
- the adjacent parking space set generation sub-module is used to determine two parking spaces with and only two distance values within the preset range, and the difference between the direction angles is less than the preset value as adjacent parking spaces, and generate adjacent parking spaces. Collection of parking spaces.
- the reference direction and reference parking space extraction module 403 includes:
- the median value determination sub-module is used to determine the median value of the direction angle of all parking spaces
- the reference direction extraction sub-module is used to extract the reference direction of the adjacent parking spaces set based on the median value
- the reference parking space extraction sub-module is used to obtain the current motion state of the vehicle, and extract the reference parking space from the adjacent parking spaces set based on the current motion state.
- the parking space display parameter generation module 404 includes:
- the first corner coordinate acquisition sub-module is used to acquire the first corner coordinates of the reference parking space
- a first correction corner coordinate calculation sub-module used for calculating the first corrected corner coordinates of the reference parking space by using the first corner coordinates, the reference direction, the preset first length, and the preset second length;
- the adjacent parking space acquisition sub-module is used to obtain the adjacent parking spaces of the reference parking space from the adjacent parking space set;
- the second correction corner coordinate determination submodule is configured to determine the second corrected corner coordinates of the adjacent parking spaces based on the first corner coordinates and the first corrected corner coordinates;
- the jump submodule is used to set the adjacent parking space as the reference parking space, and jump to execute the steps of obtaining the adjacent parking space of the reference parking space from the adjacent parking space set;
- the parking space display parameter generation sub-module is used to generate the parking space display parameters after completing the correction of all the parking spaces in the adjacent parking space set.
- the parking space display device provided by the embodiment of the present application generates a set of adjacent parking spaces based on the parking space information by acquiring the parking space information of the parking space, so as to obtain the arrangement order of the parking spaces;
- the reference direction and the reference parking space correct the display data of the parking spaces in the adjacent parking spaces set, so that the parking spaces displayed on the user interface based on the parking space display parameters are arranged closer to the actual arrangement of the parking spaces, and the interface display effect is optimized. Improved user experience.
- the embodiment of the present application also provides an electronic device, the device includes a processor and a memory:
- the memory is used to store the program code and transmit the program code to the processor
- the processor is configured to execute the parking space display method of the embodiment of the present application according to the instructions in the program code.
- Embodiments of the present application further provide a computer-readable storage medium, where the computer-readable storage medium is used to store program codes, and the program codes are used to execute the parking space display method of the embodiments of the present application.
- embodiments of the embodiments of the present application may be provided as methods, apparatuses, or computer program products. Accordingly, the embodiments of the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
- computer-usable storage media including, but not limited to, disk storage, CD-ROM, optical storage, etc.
- These computer program instructions may be provided to the processor of a general purpose computer, special purpose computer, embedded processor or other programmable data processing terminal equipment to produce a machine that causes the instructions to be executed by the processor of the computer or other programmable data processing terminal equipment Means are created for implementing the functions specified in the flow or flows of the flowcharts and/or the blocks or blocks of the block diagrams.
- These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing terminal equipment to operate in a particular manner, such that the instructions stored in the computer readable memory result in an article of manufacture comprising instruction means, the The instruction means implement the functions specified in the flow or flow of the flowcharts and/or the block or blocks of the block diagrams.
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Abstract
一种车位显示方法、装置、电子设备及存储介质，车位显示方法包括：当车辆进入预设停车场时，获取多个车位的车位信息(101)；基于车位信息，生成相邻车位集合(102)；从相邻车位集合中提取基准方向和基准车位(103)；采用基准方向和基准车位，校正相邻车位集合，生成车位显示参数(104)；基于车位显示参数在预设用户界面中显示车位(105)。基于车位显示参数显示在用户界面上的车位在排布上更接近于车位的实际排布形式，优化了界面显示效果，提高了用户体验。
Description
本申请要求于2021年01月05日提交国家知识产权局、申请号为202110008767.9、申请名称为“一种车位显示方法、装置、电子设备及存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
本申请涉及车位显示技术领域，尤其涉及一种车位显示方法、装置、电子设备及存储介质。
UI(User Interface，用户界面)是系统和用户之间进行交互和信息交换的媒介，它实现信息的内部形式与人类可以接受形式之间的转换。用户界面是介于用户与硬件而设计彼此之间交互沟通的相关软件，目的在于使得用户能够方便有效率地去操作硬件以达成双向之交互，完成所希望借助硬件完成的工作。
车辆在进入停车场时，会采集停车场内的车位信息，显示在车载UI界面上，以引导用户对车位进行选择。
然而，由于相关技术中的车位识别方法存在较大的精度误差，导致基于车位信息显示在UI界面上的图像的排布在视觉上无法与车位的实际排布相对应，降低了用户体验。
本申请提供了一种车位显示方法、装置、电子设备及存储介质，用于解决或部分解决基于车位信息显示在UI界面上的图像在排布上无法与车位的实际排布相对应、界面显示杂乱、降低了用户体验的技术问题。
本申请第一方面提供了一种车位显示方法，包括：当车辆进入预设停车场时，获取多个车位的车位信息；基于所述车位信息，生成相邻车位集 合；从所述相邻车位集合中提取基准方向和基准车位；采用所述基准方向和所述基准车位，校正所述相邻车位集合，生成车位显示参数；基于所述车位显示参数在预设用户界面中显示所述车位。
在一实施方式中，所述当车辆进入预设停车场时，获取多个车位的车位信息的步骤，包括：当车辆进入预设停车场时，通过预设的第一车位检测算法实时采集第一车位信息；采用所述第一车位信息生成车位集合；通过预设的第二车位检测算法实时采集第二车位信息；将所述车位集合和所述第二车位信息映射到预设坐标系中，获取车位信息。
在一实施方式中，所述车位信息包括车位的角点坐标；所述基于所述车位信息，生成相邻车位集合的步骤，包括：分别计算任意两个车位的各角点坐标之间的距离值；获取各所述车位的方向角；将有且仅有两个距离值处于预设范围内，且所述方向角之间的差值小于预设数值的两个所述车位确定为相邻车位，生成相邻车位集合。
在一实施方式中，所述从所述相邻车位集合中提取基准方向和基准车位的步骤，包括：确定所有所述车位的方向角的中位值；基于所述中位值提取所述相邻车位集合的基准方向；获取车辆当前运动状态，基于所述当前运动状态从所述相邻车位集合中提取基准车位。
在一实施方式中，所述采用所述基准方向和所述基准车位，校正所述相邻车位集合，生成车位显示参数的步骤，包括：获取基准车位的第一角点坐标；采用所述第一角点坐标、所述基准方向、预设第一长度、预设第二长度，计算得到所述基准车位的第一校正角点坐标；从所述相邻车位集合中获取所述基准车位的相邻车位；基于所述第一角点坐标和所述第一校正角点坐标，确定所述相邻车位的第二校正角点坐标；将所述相邻车位设置为基准车位，并跳转执行从所述相邻车位集合中获取所述基准车位的相邻车位的步骤；在完成对所述相邻车位集合中的所有车位的校正后，生成车位显示参数。
在一实施方式中，所述第一车位检测算法包括全景式监控影像系统算法，所述第二车位检测算法包括超声波算法。
在一实施方式中，所述当车辆进入预设停车场时，通过预设的第一车位检测算法实时采集第一车位信息的步骤之后，还包括：在采集到所述第一车 位信息后，实时更新车位集合，包括删除重复车位的信息、添加新的车位的信息以及剔除超出采集范围的车位的信息。
本申请第二方面提供了一种车位显示装置，包括：车位信息获取模块，用于当车辆进入预设停车场时，获取多个车位的车位信息；相邻车位集合生成模块，用于基于所述车位信息，生成相邻车位集合；基准方向和基准车位提取模块，用于从所述相邻车位集合中提取基准方向和基准车位；车位显示参数生成模块，用于采用所述基准方向和所述基准车位，校正所述相邻车位集合，生成车位显示参数；车位显示模块，用于基于所述车位显示参数在预设用户界面中显示所述车位。
在一实施方式中，所述车位信息获取模块，包括：第一车位信息采集子模块，用于当车辆进入预设停车场时，通过预设的第一车位检测算法实时采集第一车位信息；车位集合生成子模块，用于采用所述第一车位信息生成车位集合；第二车位信息采集子模块，用于通过预设的第二车位检测算法实时采集第二车位信息；车位信息获取子模块，用于将所述车位集合和所述第二车位信息映射到预设坐标系中，获取车位信息。
在一实施方式中，所述车位信息包括车位的角点坐标；所述相邻车位集合生成模块，包括：距离值计算子模块，用于分别计算任意两个车位的各角点坐标之间的距离值；方向角获取子模块，用于获取各所述车位的方向角；相邻车位集合生成子模块，用于将有且仅有两个距离值处于预设范围内，且所述方向角之间的差值小于预设数值的两个所述车位确定为相邻车位，生成相邻车位集合。
在一实施方式中，所述基准方向和基准车位提取模块，包括：中位值确定子模块，用于确定所有车位的方向角的中位值；基准方向提取子模块，用于基于中位值提取相邻车位集合的基准方向；基准车位提取子模块，用于获取车辆当前运动状态，基于当前运动状态从相邻车位集合中提取基准车位。
在一实施方式中，所述车位显示参数生成模块，包括：第一角点坐标获取子模块，用于获取基准车位的第一角点坐标；第一校正角点坐标计算子模块，用于采用第一角点坐标、基准方向、预设第一长度、预设第二长度，计算得到基准车位的第一校正角点坐标；相邻车位获取子模块，用于 从相邻车位集合中获取基准车位的相邻车位；第二校正角点坐标确定子模块，用于基于第一角点坐标和第一校正角点坐标，确定相邻车位的第二校正角点坐标；跳转子模块，用于将相邻车位设置为基准车位，并跳转执行从相邻车位集合中获取基准车位的相邻车位的步骤；车位显示参数生成子模块，用于在完成对相邻车位集合中的所有车位的校正后，生成车位显示参数。
本申请第三方面提供了一种电子设备，所述设备包括处理器以及存储器：所述存储器用于存储程序代码，并将所述程序代码传输给所述处理器；所述处理器用于根据所述程序代码中的指令执行如上任一项所述的车位显示方法。
本申请第四方面提供了一种计算机可读存储介质，所述计算机可读存储介质用于存储程序代码，所述程序代码用于执行如上任一项所述的车位显示方法。
依据本申请实施例提供的技术方案，具有以下优点：本申请实施例通过获取车位的车位信息，基于车位信息生成相邻车位集合，以获取车位的排布顺序；然后从相邻车位集合中提取基准方向和基准车位，以根据基准方向和基准车位校正相邻车位集合中的车位的显示数据，从而使得基于车位显示参数显示在用户界面上的车位在排布上更接近于车位的实际排布形式，优化了界面显示效果，提高了用户体验。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本申请。
通过结合附图对本申请示例性实施方式进行更详细的描述，本申请的上述以及其它目的、特征和优势将变得更加明显，其中，在本申请示例性实施方式中，相同的参考标号通常代表相同部件。
图1为本申请实施例提供的一种车位显示方法的步骤流程图；
图2为本申请另一实施例提供的一种车位显示方法的步骤流程图；
图3a为本申请实施例提供的校正前的车位显示效果；
图3b为本申请实施例提供的校正后的车位显示效果；
图4为本申请实施例提供的一种车位显示装置的结构框图。
下面将参照附图更详细地描述本申请的实施方式。虽然附图中显示了本申请的实施方式，然而应该理解，可以以各种形式实现本申请而不应被这里阐述的实施方式所限制。相反，提供这些实施方式是为了使本申请更加透彻和完整，并且能够将本申请的范围完整地传达给本领域的技术人员。
在本申请使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本申请。在本申请和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。
应当理解，尽管在本申请可能采用术语“第一”、“第二”、“第三”等来描述各种信息，但这些信息不应限于这些术语。这些术语仅用来将同一类型的信息彼此区分开。例如，在不脱离本申请范围的情况下，第一信息也可以被称为第二信息，类似地，第二信息也可以被称为第一信息。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本申请的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
本申请实施例提供了一种车位显示方法、装置、电子设备及存储介质，用于解决或部分解决基于车位信息显示在UI界面上的图像在排布上无法与车位的实际排布相对应、界面显示杂乱、降低了用户体验的技术问题。
以下结合附图详细描述本申请实施例的技术方案。
请参阅图1，图1为本申请实施例提供的一种车位显示方法的步骤流程图。
本申请实施例提供的一种车位显示方法，可以包括以下步骤：
步骤101，当车辆进入预设停车场时，获取多个车位的车位信息。
在本申请实施例中，车辆在进入停车场时，可以获取停车场中多个车 位的车位信息，以基于车位信息向用户展示车位的布局。
需要说明的是，离车辆越远的车位，所采集到的车位信息的准确率就越低，因此，在本申请实施例中，可以以车辆为中心，设定一个采集范围，采集该采集范围内的车位的车位信息；同时，随着车辆的移动，处于采集范围内的车位会发生改变，因此，在车辆移动过程中，对车位信息的采集是持续性的，以不断更新采集到的车位信息。
步骤102，基于车位信息，生成相邻车位集合。
在本申请实施例中，在获取到车位信息后，基于各个车位的车位信息可以确定任意两个车位之间的相对位置关系，根据一定的约束条件，可以确定两个车位之间是否相邻，整合相邻的车位，可以得到相邻车位集合。
步骤103，从相邻车位集合中提取基准方向和基准车位。
在获取到相邻车位信息后，可以确定相邻车位集合的基准方向和基准车位。在一个示例中，基准方向可以是表征相邻车位集合中车位整体朝向趋势的方向角，也可以根据实际场景自行选择；基准车位可以根据不同的场景来设定，对于基准方向和基准车位的选定，本申请实施例不作具体限制。
步骤104，采用基准方向和基准车位，校正相邻车位集合，生成车位显示参数。
步骤105，基于车位显示参数在预设用户界面中显示车位。
在本申请实施例中，在确定了基准方向和基准车位后，可以根据基准方向和基准车位来校正相邻车位集合中的所有车位的显示参数，以使得按照该显示参数在预设用户界面进行显示时，可以得到具备一定显示规律的车位显示效果。
本申请实施例通过获取车位的车位信息，基于车位信息生成相邻车位集合，以获取车位的排布顺序；然后从相邻车位集合中提取基准方向和基准车位，以根据基准方向和基准车位校正相邻车位集合中的车位的显示数据，从而使得基于车位显示参数显示在用户界面上的车位在排布上更接近于车位的实际排布形式，优化了界面显示效果，提高了用户体验。
请参阅图2，图2为本申请另一实施例提供的一种车位显示方法的步骤流程图，其可以包括以下步骤：
步骤201，当车辆进入预设停车场时，通过预设的第一车位检测算法实时采集第一车位信息。
在本申请实施例中，车辆在进入停车场时，可以获取停车场中多个车位的第一车位信息，以基于第一车位信息向用户展示车位的布局。
需要说明的是，离车辆越远的车位，所采集到的第一车位信息的准确率就越低，因此，在本申请实施例中，可以以车辆为中心，设定一个采集范围，采集该采集范围内的车位的第一车位信息；同时，随着车辆的移动，处于采集范围内的车位会发生改变，因此，在车辆移动过程中，对第一车位信息的采集是持续性的，以不断更新采集到的第一车位信息。
在一个示例中，对于第一车位的采集可以采用AVM(Around View Monitor，全景式监控影像系统)算法来进行。AVM算法可以通过多个(一般四个)超大广角鱼眼镜头拍摄图像，经过特殊算法对所拍摄图像进行畸变矫正以及拼接，形成物体周围的全景，以从中识别出车位，并获取车位的第一车位信息。
需要说明的是，本领域技术人员可以根据实际使用场景，选择任意车位采集方式，本申请实施例对此不作具体限制。
步骤202，采用第一车位信息生成车位集合。
在将全景图像中的车位提取出来后，可以基于第一车位信息例如基于所有的第一车位信息，生成车位集合，该车位用于记录当前时刻采集到的车位的第一车位信息。
需要说明的是，在车辆行驶过程中，采集到的车位的第一车位信息是不断变化的，因此，在每个时刻采集到第一车位信息后，可以实时更新车位集合，包括删除重复车位的信息、添加新的车位的信息以及剔除超出采集范围的车位的信息。
步骤203，通过预设的第二车位检测算法实时采集第二车位信息。
在本申请实施例中，仅通过AVM算法进行车位信息采集，可能会出现采集不到部分车位的情况，因此可以进一步提高车位的采集全面性，避免车位采集缺漏。此外，仅通过AVM进行车位采集可能会导致采集到的第一车位信息对车位位置的反映不够准确，因此可以进一步地提高采集到的车位的信息准确率。
有鉴于此，本申请实施例引入另一个车位采集方法，以采集得到车位的第二车位信息，通过结合第一车位信息和第二车位信息，来提高车位的采集全面性和采集精度。
在一个示例中，可以选择超声波算法来采集车位的第二位置信息。当然，本领域技术人员可以根据实际需要选择符合使用场景的车位采集方式，本申请实施例对此不作具体限制。
步骤204，将车位集合和第二车位信息映射到预设坐标系中，获取车位信息。
在本申请实施例中，在获取到车位的第一车位信息和第二车位信息后，可以将第一车位信息和第二车位信息变换到同一个坐标系中，以整合第一车位信息和第二车位信息，得到较为全面与精确的车位信息。
步骤205，基于车位信息，生成相邻车位集合。
在本申请实施例中，在获取到车位信息后，基于各个车位的车位信息可以确定任意两个车位之间的相对位置关系；根据一定的约束条件，可以确定两个车位之间是否相邻；整合相邻的车位，可以得到相邻车位集合。
在本申请实施例中，车位信息可以包括车位的角点坐标；基于车位信息，生成相邻车位集合的步骤，可以包括如下子步骤：
S11，分别计算任意两个车位的各角点坐标之间的距离值；
S12，获取各车位的方向角；
S13，将有且仅有两个距离值处于预设范围内，且方向角之间的差值小于预设数值的两个车位确定为相邻车位，生成相邻车位集合。
在一种实现方式中，对于相邻车位的判断，可以通过获取车位的4个角点坐标，计算任意车位的8个角点坐标之间的距离值，当且仅当只有两个距离值在预设范围内，且两个车位的方向角的角度差值小于预设数值时，可判定两个车位是相邻车位。以此类推，可以得到所有相邻车位的信息，生成相邻车位集合。
步骤206，从相邻车位集合中提取基准方向和基准车位。
在本申请实施例中，在获取到相邻车位信息后，可以确定相邻车位集合的基准方向和基准车位，在一个示例中，基准方向可以是表征相邻车位集合中车位整体朝向趋势的方向角，也可以根据实际场景自行选择；基准 车位可以根据不同的场景来设定，对于基准方向和基准车位的选定，本申请实施例不作具体限制。
在一个示例中，从相邻车位集合中提取基准方向和基准车位的步骤，可以包括以下子步骤：
S21，确定所有车位的方向角的中位值；
S22，基于中位值提取相邻车位集合的基准方向；
S23，获取车辆当前运动状态，基于当前运动状态从相邻车位集合中提取基准车位。
在一种实现方式中，对于相邻车位集合的基准方向的确定，可以通过获取相邻车位集合中所有车位的方向角，根据大小进行排序，确定中位值，将中位值确定为基准方向。
在本申请实施例中，方向角是车身方向与相邻车位集合中车辆排列方向的夹角。当然，本领域技术人员可以根据需求选定方向角，本申请实施例对此不作具体限制。
步骤207，采用基准方向和基准车位，校正相邻车位集合，生成车位显示参数。
步骤208，基于车位显示参数在预设用户界面中显示车位。
在本申请实施例中，在确定了基准方向和基准车位后，可以根据基准方向和基准车位来校正相邻车位集合中的所有车位的显示参数，以使得按照该显示参数在用户界面进行显示时，可以得到具备一定显示规律的车位显示效果。
在本申请实施例中，采用基准方向和基准车位，校正相邻车位集合，生成车位显示参数的步骤，可以包括以下子步骤：
S31，获取基准车位的第一角点坐标；
S32，采用第一角点坐标、基准方向、预设第一长度、预设第二长度，计算得到基准车位的第一校正角点坐标；
S33，从相邻车位集合中获取基准车位的相邻车位；
S34，基于第一角点坐标和第一校正角点坐标，确定相邻车位的第二校正角点坐标；
S35，将相邻车位设置为基准车位，并跳转执行从相邻车位集合中获 取基准车位的相邻车位的步骤；
S36，在完成对相邻车位集合中的所有车位的校正后，生成车位显示参数。
在一种实现方式中，如图3a-3b所示，设定车位1为基准车位，车位2为相邻车位，AB为基准方向，W为预设第一长度，L为预设第二长度，C1、D1、E1、F1为基准车位的原始角点坐标，C2、D2、E2、F2为车位2的原始角点坐标。通过如下步骤可以计算得到车位1的第一校正角点坐标：
1.设定C1为基准车位1的第一角点坐标，则，根据预设第一长度W、和第一角点坐标C1，可计算得到D1的第一校正角点坐标D1’；
2.接着通过D1’的坐标，结合向量D1’E1’方向与向量C1D1’的角度相差90度、以及第二预设长度L，可计算得到E1的第一校正角点坐标E1’；
3.最后通过公式F1’＝C1+E1’-D1’可计算得到F1的第一校正角点坐标F1’。
对于车位2的第二校正角点坐标，可以通过以下步骤计算得到：
1.找到车位2与车位1的相邻角点C2、F2，将D1’确定为C2的第二校正角点坐标，将E1’确定为F2的第二校正角点坐标；
2.通过D1’、基准方向和W，可以计算出D2的第二校正角点坐标D2’；
3.通过E1’、基准方向和L，可以计算出E2的第二校正角点坐标E2’。
按照上述步骤，可计算得到相邻车位集合中所有车位的校正后，可以生成相邻车位集合的车位显示参数。
本申请实施例通过获取车位的车位信息，基于车位信息生成相邻车位集合，以获取车位的排布顺序；然后从相邻车位集合中提取基准方向和基准车位，以根据基准方向和基准车位校正相邻车位集合中的车位的显示数据，从而使得基于车位显示参数显示在用户界面上的车位在排布上更接近于车位的实际排布形式，优化了界面显示效果，提高了用户体验。
请参阅图4，图4为本申请实施例提供的一种车位显示装置的结构框图。
本申请实施例提供了一种车位显示装置，可以包括：
车位信息获取模块401，用于当车辆进入预设停车场时，获取多个车位的车位信息；
相邻车位集合生成模块402，用于基于车位信息，生成相邻车位集合；
基准方向和基准车位提取模块403，用于从相邻车位集合中提取基准方向和基准车位；
车位显示参数生成模块404，用于采用基准方向和基准车位，校正相邻车位集合，生成车位显示参数；
车位显示模块405，用于基于车位显示参数在预设用户界面中显示车位。
在本申请实施例中，车位信息获取模块401，可以包括：
第一车位信息采集子模块，用于当车辆进入预设停车场时，通过预设的第一车位检测算法实时采集第一车位信息；
车位集合生成子模块，用于采用第一车位信息生成车位集合；
第二车位信息采集子模块，用于通过预设的第二车位检测算法实时采集第二车位信息；
车位信息获取子模块，用于将车位集合和第二车位信息映射到预设坐标系中，获取车位信息。
在本申请实施例中，车位信息包括车位的角点坐标；相邻车位集合生成模块402，可以包括：
距离值计算子模块，用于分别计算任意两个车位的各角点坐标之间的距离值；
方向角获取子模块，用于获取各车位的方向角；
相邻车位集合生成子模块，用于将有且仅有两个距离值处于预设范围内，且方向角之间的差值小于预设数值的两个车位确定为相邻车位，生成相邻车位集合。
在本申请实施例中，基准方向和基准车位提取模块403，包括：
中位值确定子模块，用于确定所有车位的方向角的中位值；
基准方向提取子模块，用于基于中位值提取相邻车位集合的基准方向；
基准车位提取子模块，用于获取车辆当前运动状态，基于当前运动状态从相邻车位集合中提取基准车位。
在本申请实施例中，车位显示参数生成模块404，包括：
第一角点坐标获取子模块，用于获取基准车位的第一角点坐标；
第一校正角点坐标计算子模块，用于采用第一角点坐标、基准方向、预设第一长度、预设第二长度，计算得到基准车位的第一校正角点坐标；
相邻车位获取子模块，用于从相邻车位集合中获取基准车位的相邻车位；
第二校正角点坐标确定子模块，用于基于第一角点坐标和第一校正角点坐标，确定相邻车位的第二校正角点坐标；
跳转子模块，用于将相邻车位设置为基准车位，并跳转执行从相邻车位集合中获取基准车位的相邻车位的步骤；
车位显示参数生成子模块，用于在完成对相邻车位集合中的所有车位的校正后，生成车位显示参数。
本申请实施例提供的车位显示装置，通过获取车位的车位信息，基于车位信息生成相邻车位集合，以获取车位的排布顺序；然后从相邻车位集合中提取基准方向和基准车位，以根据基准方向和基准车位校正相邻车位集合中的车位的显示数据，从而使得基于车位显示参数显示在用户界面上的车位在排布上更接近于车位的实际排布形式，优化了界面显示效果，提高了用户体验。
本申请实施例还提供了一种电子设备，设备包括处理器以及存储器：
存储器用于存储程序代码，并将程序代码传输给处理器；
处理器用于根据程序代码中的指令执行本申请实施例的车位显示方法。
本申请实施例还提供了一种计算机可读存储介质，计算机可读存储介质用于存储程序代码，程序代码用于执行本申请实施例的车位显示方法。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
本说明书中的各个实施例均采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似的部分互相参见即可。
本领域内的技术人员应明白，本申请实施例的实施例可提供为方法、装置、或计算机程序产品。因此，本申请实施例可采用完全硬件实施例、 完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本申请实施例可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本申请实施例是参照根据本申请实施例的方法、终端设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理终端设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理终端设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理终端设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理终端设备上，使得在计算机或其他可编程终端设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程终端设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
尽管已描述了本申请实施例的优选实施例，但本领域内的技术人员一旦得知了基本创造性概念，则可对这些实施例做出另外的变更和修改。所以，所附权利要求意欲解释为包括优选实施例以及落入本申请实施例范围的所有变更和修改。
最后，还需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者终端设备不仅包括那些 要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者终端设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者终端设备中还存在另外的相同要素。
以上已经描述了本申请的各实施例，上述说明是示例性的，并非穷尽性的，并且也不限于所披露的各实施例。在不偏离所说明的各实施例的范围和精神的情况下，对于本技术领域的普通技术人员来说许多修改和变更都是显而易见的。本文中所用术语的选择，旨在最好地解释各实施例的原理、实际应用或对市场中的技术的改进，或者使本技术领域的其它普通技术人员能理解本文披露的各实施例。
Claims (14)
- 一种车位显示方法，其特征在于，包括：当车辆进入预设停车场时，获取多个车位的车位信息；基于所述车位信息，生成相邻车位集合；从所述相邻车位集合中提取基准方向和基准车位；采用所述基准方向和所述基准车位，校正所述相邻车位集合，生成车位显示参数；基于所述车位显示参数在预设用户界面中显示所述车位。
- 根据权利要求1所述的方法，其特征在于，所述当车辆进入预设停车场时，获取多个车位的车位信息的步骤，包括：当车辆进入预设停车场时，通过预设的第一车位检测算法实时采集第一车位信息；采用所述第一车位信息生成车位集合；通过预设的第二车位检测算法实时采集第二车位信息；将所述车位集合和所述第二车位信息映射到预设坐标系中，获取车位信息。
- 根据权利要求2所述的方法，其特征在于，所述车位信息包括车位的角点坐标；所述基于所述车位信息，生成相邻车位集合的步骤，包括：分别计算任意两个车位的各角点坐标之间的距离值；获取各所述车位的方向角；将有且仅有两个距离值处于预设范围内，且所述方向角之间的差值小于预设数值的两个所述车位确定为相邻车位，生成相邻车位集合。
- 根据权利要求3所述的方法，其特征在于，所述从所述相邻车位集合中提取基准方向和基准车位的步骤，包括：确定所有所述车位的方向角的中位值；基于所述中位值提取所述相邻车位集合的基准方向；获取车辆当前运动状态，基于所述当前运动状态从所述相邻车位集合中提取基准车位。
- 根据权利要求1所述的方法，其特征在于，所述采用所述基准方向和所述基准车位，校正所述相邻车位集合，生成车位显示参数的步骤，包括：获取基准车位的第一角点坐标；采用所述第一角点坐标、所述基准方向、预设第一长度、预设第二长度，计算得到所述基准车位的第一校正角点坐标；从所述相邻车位集合中获取所述基准车位的相邻车位；基于所述第一角点坐标和所述第一校正角点坐标，确定所述相邻车位的第二校正角点坐标；将所述相邻车位设置为基准车位，并跳转执行从所述相邻车位集合中获取所述基准车位的相邻车位的步骤；在完成对所述相邻车位集合中的所有车位的校正后，生成车位显示参数。
- 根据权利要求2所述的方法，其特征在于：所述第一车位检测算法包括全景式监控影像系统算法，所述第二车位检测算法包括超声波算法。
- 根据权利要求2所述的方法，其特征在于，所述当车辆进入预设停车场时，通过预设的第一车位检测算法实时采集第一车位信息的步骤之后，还包括：在采集到所述第一车位信息后，实时更新车位集合，包括删除重复车位的信息、添加新的车位的信息以及剔除超出采集范围的车位的信息。
- 一种车位显示装置，其特征在于，包括：车位信息获取模块，用于当车辆进入预设停车场时，获取多个车位的车位信息；相邻车位集合生成模块，用于基于所述车位信息，生成相邻车位集合；基准方向和基准车位提取模块，用于从所述相邻车位集合中提取基准方向和基准车位；车位显示参数生成模块，用于采用所述基准方向和所述基准车位，校正所述相邻车位集合，生成车位显示参数；车位显示模块，用于基于所述车位显示参数在预设用户界面中显示所述车位。
- 根据权利要求8所述的装置，其特征在于，所述车位信息获取模块，包括：第一车位信息采集子模块，用于当车辆进入预设停车场时，通过预设的 第一车位检测算法实时采集第一车位信息；车位集合生成子模块，用于采用所述第一车位信息生成车位集合；第二车位信息采集子模块，用于通过预设的第二车位检测算法实时采集第二车位信息；车位信息获取子模块，用于将所述车位集合和所述第二车位信息映射到预设坐标系中，获取车位信息。
- 根据权利要求9所述的装置，其特征在于，所述车位信息包括车位的角点坐标；所述相邻车位集合生成模块，包括：距离值计算子模块，用于分别计算任意两个车位的各角点坐标之间的距离值；方向角获取子模块，用于获取各所述车位的方向角；相邻车位集合生成子模块，用于将有且仅有两个距离值处于预设范围内，且所述方向角之间的差值小于预设数值的两个所述车位确定为相邻车位，生成相邻车位集合。
- 根据权利要求10所述的装置，其特征在于，所述基准方向和基准车位提取模块，包括：中位值确定子模块，用于确定所有车位的方向角的中位值；基准方向提取子模块，用于基于中位值提取相邻车位集合的基准方向；基准车位提取子模块，用于获取车辆当前运动状态，基于当前运动状态从相邻车位集合中提取基准车位。
- 根据权利要求8所述的装置，其特征在于，所述车位显示参数生成模块，包括：第一角点坐标获取子模块，用于获取基准车位的第一角点坐标；第一校正角点坐标计算子模块，用于采用第一角点坐标、基准方向、预设第一长度、预设第二长度，计算得到基准车位的第一校正角点坐标；相邻车位获取子模块，用于从相邻车位集合中获取基准车位的相邻车位；第二校正角点坐标确定子模块，用于基于第一角点坐标和第一校正角点坐标，确定相邻车位的第二校正角点坐标；跳转子模块，用于将相邻车位设置为基准车位，并跳转执行从相邻车 位集合中获取基准车位的相邻车位的步骤；车位显示参数生成子模块，用于在完成对相邻车位集合中的所有车位的校正后，生成车位显示参数。
- 一种电子设备，其特征在于，所述设备包括处理器以及存储器：所述存储器用于存储程序代码，并将所述程序代码传输给所述处理器；所述处理器用于根据所述程序代码中的指令执行权利要求1-7任一项所述的车位显示方法。
- 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质用于存储程序代码，所述程序代码用于执行权利要求1-7任一项所述的车位显示方法。
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| CN116691694A (zh) * | 2023-05-29 | 2023-09-05 | 禾多科技（北京）有限公司 | 车位信息生成方法、装置、电子设备和计算机可读介质 |
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| CN112863234B (zh) * | 2021-01-05 | 2022-07-01 | 广州小鹏自动驾驶科技有限公司 | 一种车位显示方法、装置、电子设备及存储介质 |
| CN115206130B (zh) * | 2022-07-12 | 2023-07-18 | 合众新能源汽车股份有限公司 | 一种车位检测方法、系统、终端及存储介质 |
| CN115311892B (zh) * | 2022-08-05 | 2023-11-24 | 合众新能源汽车股份有限公司 | 车位显示方法、装置和电子设备 |
| CN118579066A (zh) * | 2024-08-06 | 2024-09-03 | 比亚迪股份有限公司 | 泊车方法、装置、车载控制器以及目标车辆 |
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