WO2022227711A1 - 泊车路线共享方法、装置、设备以及存储介质 - Google Patents

泊车路线共享方法、装置、设备以及存储介质 Download PDF

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Publication number
WO2022227711A1
WO2022227711A1 PCT/CN2022/071788 CN2022071788W WO2022227711A1 WO 2022227711 A1 WO2022227711 A1 WO 2022227711A1 CN 2022071788 W CN2022071788 W CN 2022071788W WO 2022227711 A1 WO2022227711 A1 WO 2022227711A1
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Prior art keywords
user
parking route
user terminal
route
target parking
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PCT/CN2022/071788
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English (en)
French (fr)
Inventor
李欣静
魏鹏飞
宋佳
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北京百度网讯科技有限公司
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Publication of WO2022227711A1 publication Critical patent/WO2022227711A1/zh

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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
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle

Definitions

  • the present disclosure relates to the technical field of autonomous driving, and in particular, to the technical field of autonomous parking.
  • Memory parking collects data from cameras and sensors around the body, constructs a scene map through visual SLAM (Simultaneous localization and mapping) technology, and can achieve high-precision positioning without relying on high-precision maps.
  • SLAM Simultaneous localization and mapping
  • memory parking requires users to create their own parking routes and use the self-built parking routes for parking.
  • the present disclosure proposes a parking route sharing method, apparatus, electronic device, non-transitory computer-readable storage medium, and computer program product.
  • an embodiment of the present disclosure provides a parking route sharing method, including: receiving a route acquisition request sent by a second client based on a shared link of a target parking route, wherein the shared link is shared by the first client; The target parking route is sent to the second user terminal to instruct the second user terminal to park based on the target parking route.
  • an embodiment of the present disclosure provides an apparatus for sharing a parking route, including: a first receiving module configured to receive a route acquisition request sent by a second user terminal based on a shared link of a target parking route, wherein the shared The link is shared by the first client; the sending module is configured to send the target parking route to the second client, so as to instruct the second client to park based on the target parking route.
  • an embodiment of the present disclosure provides an electronic device, comprising: at least one processor; and a memory connected in communication with the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor.
  • the at least one processor executes to enable the at least one processor to perform a method as described in any implementation of the first aspect.
  • an embodiment of the present disclosure provides a non-transitory computer-readable storage medium storing computer instructions, where the computer instructions are used to cause a computer to execute the method described in any implementation manner of the first aspect.
  • an embodiment of the present disclosure provides a computer program product, including a computer program, when the computer program is executed by a processor, the computer program implements the method described in any of the implementation manners of the first aspect, or implements any of the implementation manners of the second aspect. An implementation of the method described.
  • the embodiments of the present disclosure provide a parking route sharing method for remembering parking users, and the parking route of a single user can be shared with other users. It enables the parking route originally only used by a single user to be shared with other users. The application rate of the parking route of a single user is improved, and the learning cost of the parking route of other users is reduced, thereby increasing the practicability of memory parking. In addition, in the process of sharing the parking route, the first user interacts with the second user, which increases the social attribute of memorizing parking.
  • FIG. 1 is an exemplary system architecture diagram of an application scenario of the present disclosure
  • FIG. 2 is a flowchart of an embodiment of the parking route sharing method of the present disclosure
  • FIG. 3 is a flowchart of still another embodiment of the parking route sharing method of the present disclosure.
  • 4 is a sequence diagram of one embodiment of sharing a shared link
  • Fig. 5 is a sequence diagram of one embodiment of judging the sharing and sharing link
  • FIG. 6 is a sequence diagram of an embodiment of issuing a parking route
  • FIG. 7 is a scene diagram of one embodiment of parking route reconstruction
  • FIG. 8 is a schematic structural diagram of an embodiment of the parking route sharing device of the present disclosure.
  • FIG. 9 is a block diagram of an electronic device for implementing a parking route sharing method according to an embodiment of the present disclosure.
  • FIG. 1 illustrates an exemplary system architecture 100 for an application scenario of the present disclosure.
  • the system architecture 100 may include a first client 101 , a second client 102 , a network 103 and a cloud 104 .
  • the network 103 is used as a medium for providing a communication link between the first client 101 , the second client 102 and the cloud 104 .
  • the network 103 may include various connection types, such as wired, wireless communication links, or fiber optic cables, among others.
  • the first user terminal 101 may include a first user terminal 1011 and a first user vehicle terminal 1012 .
  • the second user terminal 102 may include a second user terminal 1021 and a second user vehicle terminal 1022 .
  • the cloud 104 may include a cloud user management system 1041 and a cloud map management system 1042 .
  • the first user terminal 101 can share its parking route with the second user terminal 102 through the cloud 104 for the second user terminal 102 to park.
  • the cloud 104 may store the parking route of the first client 101, and send the parking route of the first client 101 to the second client 102 in the case of receiving the route acquisition request of the second client 102.
  • the parking route sharing method provided by the embodiments of the present disclosure is generally performed by the cloud 104 , and accordingly, the parking route sharing device is generally set in the cloud 104 .
  • first client the second client and the cloud in FIG. 1 are only illustrative. According to implementation requirements, there may be any number of first client terminals, second client terminals and clouds.
  • the parking route sharing method includes the following steps:
  • Step 201 Receive a route acquisition request sent by the second user terminal based on the shared link of the target parking route.
  • the first user terminal may share the shared link of the target parking route. If the second client obtains the shared link, it may send a route obtaining request to the cloud based on the shared link.
  • the target parking route may be a parking route of the first client, including but not limited to a parking route learned based on data collected by the first client, a parking route downloaded by the first client, and the like.
  • the parking route downloaded by the first user terminal may be the parking routes of other user terminals.
  • the parking route shared by other clients is stored in the cloud, and the first client can download it from the cloud.
  • the parking route learned based on the data collected by the first user terminal may be learned by the first user terminal, or may be learned by the cloud.
  • the current network condition is good, the data collected by the first client terminal can be sent to the cloud, and the cloud can learn the parking route. If the current network condition is poor, the first user terminal can learn the parking route. When the network condition becomes better, the parking route will be sent to the cloud.
  • the shared link of the target parking route may be generated based on summary information of the target parking route.
  • the summary information of the parking route can be stored in the cloud.
  • the first user terminal may send a request for obtaining the summary information of the target parking route to the cloud.
  • the summary information acquisition request may include the identification of the target parking route.
  • the cloud may index the summary information of the target parking route based on the identifier of the target parking route, and send the summary information to the first user terminal.
  • the first client terminal may generate the sharing link based on the profile information. For example, the first user terminal may open a memory parking page. On the memory parking page, an identification list of the parking route of the first user terminal is displayed. The first user can select any parking route as the target parking route.
  • the first user terminal can flexibly share the shared link of the target parking route to the second user terminal through various sharing methods.
  • the sharing method of the public link that is, a public shared link is generated, and any user can download the parking route based on the shared link.
  • a route sharing button is set on the memory parking page, and the first user can click the route sharing button after selecting the target parking route.
  • multiple sharing channels can be displayed on the Memory Parking page.
  • the first user can select any one of the sharing channels to publish the sharing link.
  • the sharing channel may include, but is not limited to, the social space of the social application and the group chat of the social application.
  • the shared link can be posted on the social space of the social app, or shared in the group chat of the social app.
  • the point-to-point sharing method that is, the first user specifies and shares the parking route with the second user.
  • an account input box and a route sharing button may be set on the memory parking page.
  • the first user can enter the account of the second user in the account input box, and click the route sharing button.
  • the shared link may be shared with the second client through the account of the second user.
  • a sharing method based on location recommendation that is, a location-based route recommendation service, any user can view nearby parking routes.
  • an authorization disclosure button may be provided on the memory parking page. After the first user selects the target parking route, he may click the Authorize to Disclose button.
  • the cloud can obtain the location of the second client. If the location of the second user terminal is within the shared range of the target parking route (for example, within 300 meters of the target parking route), the shared link is shared with the second user terminal.
  • the second user may click on the shared link of the target parking route received by the second user terminal.
  • a route acquisition request can be triggered to be sent to the cloud.
  • Step 202 Send the target parking route to the second user terminal to instruct the second user terminal to park based on the target parking route.
  • the cloud may send the target parking route to the second client.
  • the second user terminal can perform parking based on the target parking route, and help the user to pick up or return the car.
  • the destination of the target parking route is the target parking space. At this time, the vehicle parked based on the target parking route can automatically go to the target parking space. In some embodiments, the destination of the target parking route is the location of the second user. At this time, the vehicle parked based on the target parking route can be automatically summoned out of the garage to reach the location of the second user. In the case that the user is inconvenient to pick up or return the car due to heavy objects or hot weather, it can directly help the user to pick up or return the car from a long distance based on the target parking route, which expands the usage scenarios of the parking function, so that it can be more Serve users well.
  • the second user terminal can directly perform parking according to the target parking route.
  • the second user terminal may collect data during the process of parking according to the target parking route. Based on the collected data and the target parking route, the fusion reconstruction is performed to obtain the fusion parking route. Then, the second user terminal can park according to the integrated parking route.
  • the integrated parking route can be learned by the second user terminal, and can also be learned by the cloud. The specific learning method can refer to the target parking route, which will not be repeated here.
  • the first user terminal may include a first user terminal and a first user vehicle terminal.
  • the second user terminal may include a second user terminal and a second user vehicle terminal.
  • Operations related to interaction are performed by the user terminal. For example, sharing a shared link, sending a route acquisition request, etc., are performed by the user terminal.
  • Operations related to parking are performed by the user's vehicle. For example, collecting data, downloading the parking route, and parking based on the parking route are performed by the user's vehicle end.
  • the cloud may include a cloud user management system and a cloud map management system.
  • the cloud user management system can be used to store user information and summary information of parking routes.
  • Cloud map management systems can be used to generate and store parking routes.
  • the embodiments of the present disclosure provide a parking route sharing method for memorizing parking users.
  • the parking route of a single user can be shared with other users, so that the parking route originally only used by a single user can be shared with other users.
  • This embodiment improves the application rate of the parking route of a single user, and at the same time reduces the learning cost of the parking routes of other users, thereby increasing the practicability of memorized parking.
  • the first user interacts with the second user, which increases the social attribute of memorizing parking.
  • the parking route sharing method includes the following steps:
  • Step 301 Receive first data collected by the first user terminal during the parking process.
  • the first user terminal may collect the first data during the parking process, and send the first data to the cloud.
  • the first user terminal is configured with sensors such as a camera (such as a wide-angle camera, a surround-view camera, etc.) and an ultrasonic radar. These sensors can collect first data during the parking process.
  • sensors such as a camera (such as a wide-angle camera, a surround-view camera, etc.) and an ultrasonic radar. These sensors can collect first data during the parking process.
  • Step 302 based on the first data, learn to obtain a target parking route.
  • the cloud may learn the target parking route based on the first data.
  • the cloud can construct target parking routes through visual SLAM technology, so that high-precision positioning can be achieved without relying on high-precision maps.
  • Step 303 Receive a route acquisition request sent by the second user terminal based on the shared link of the target parking route.
  • step 303 has been described in detail in step 201 in the embodiment shown in FIG. 2 , and details are not repeated here.
  • Step 304 Determine whether the account of the second user satisfies the preset condition.
  • the cloud may determine whether the account of the second user satisfies the preset condition. If the account of the second user does not satisfy the preset condition, the process ends; if the account of the second user satisfies the preset condition, step 305 is performed.
  • Step 305 Send the target parking route to the second user terminal to instruct the second user terminal to park based on the target parking route.
  • the cloud may send the target parking route to the second user.
  • the second user terminal may perform parking based on the target parking route. Whether to send the target parking route is determined by judging whether the account of the second user satisfies the preset condition, so that the sent target parking route is more suitable for the second user terminal to use for parking.
  • the preset condition may be a preset condition related to an account.
  • the preset conditions may include, but are not limited to, at least one of the following: the account of the second user has been registered, the account of the second user is associated with at least one vehicle, and the account of the second user is associated with at least one vehicle that is the same model as that of the first client
  • the second user selects at least one car of the same model as the first user terminal from the cars associated with the second user's account, the number of parking routes associated with the second user's account is less than a preset threshold, and so on.
  • the car associated with the account of the second user may be a car related to the second user, including but not limited to a car under the name of the second user, a car once driven by the second user, and the like.
  • the account of the second user can be associated with multiple vehicles.
  • the associated multiple vehicles there may be either a vehicle of the same model as that of the first user terminal, or a vehicle of a different model from that of the first user terminal. Since it is more suitable to share the parking route between cars of the same model, the parking route is generally sent when the second user's account is associated with a car of the same model as that of the first user.
  • the user needs to select one or more vehicles from which to receive the parking route. For example, a list of identifiers of cars associated with its account is displayed on the second user terminal. Wherein, the logo of the car with the same model as the first user terminal is displayed in the form of distinguishing the logo of other cars (such as font color different from the logo of other cars, adding a symbolic pattern near the logo, etc.).
  • the second user terminal may send the identifiers of the vehicles clicked by the user to the cloud.
  • the cloud can determine the car selected by the second user according to the received identification of the car, and can send the parking route to the car selected by the second user.
  • Step 306 Receive second data collected by the second user terminal during the parking process.
  • the second user terminal may collect the second data while parking according to the target parking route, and send the second data to the cloud.
  • the second user terminal is configured with sensors such as a camera (such as a wide-angle camera, a surround-view camera, etc.) and an ultrasonic radar. These sensors can collect second data during the parking process.
  • sensors such as a camera (such as a wide-angle camera, a surround-view camera, etc.) and an ultrasonic radar. These sensors can collect second data during the parking process.
  • Step 307 perform fusion reconstruction based on the second data and the target parking route to obtain a fusion parking route.
  • the cloud may perform fusion reconstruction based on the data collected by the second user terminal and the target parking route to obtain the fusion parking route.
  • the cloud can send the integrated parking route to the second client.
  • the second user terminal can park according to the integrated parking route.
  • the cloud can reconstruct the parking route through visual SLAM technology.
  • the target parking route of the first user terminal is commonly used by the multiple user terminals.
  • data recording will be enabled, and the data will be packaged and uploaded to the cloud.
  • the cloud integrates multiple historical data to reconstruct the route, and sends the updated parking route to the user terminal to improve the scene adaptability of the parking route.
  • the first user terminal may include a first user terminal and a first user vehicle terminal.
  • the second user terminal may include a second user terminal and a second user vehicle terminal.
  • Operations related to interaction are performed by the user terminal. For example, sharing a shared link, sending a route acquisition request, etc., is performed by the user terminal.
  • Operations related to parking are performed by the user's vehicle. For example, collecting data, downloading the parking route, and parking based on the parking route are performed by the user's vehicle end.
  • the cloud may include a cloud user management system and a cloud map management system.
  • the cloud user management system can be used to store user information and summary information of parking routes.
  • Cloud map management systems can be used to generate and store parking routes.
  • the parking route sharing method in the present embodiment adds the steps of generating and updating the parking route. Therefore, the solution described in this embodiment generates and updates the parking route in the cloud. Due to the stronger computing capability of the cloud, the calculation speed of updating the parking route is improved, and the occupation of computing resources of the client is reduced. In the process of parking according to the parking route, real-time data is collected to update the parking route, which can adapt to the complex and changeable environment.
  • the multi-user terminal integrates and reconstructs the parking routes, which can eliminate invalid and outdated route features, supplement the new route features in the scene, improve the scene adaptability of the parking route, and improve the parking Robustness of the route.
  • timing diagram of one embodiment of sharing a shared link is shown, as follows:
  • Step 401 the first user terminal opens the memory parking page.
  • Step 402 the first user terminal selects a target parking route.
  • the sharing methods can include sharing methods of public links, peer-to-peer sharing methods, and sharing methods based on location recommendations. If the shared link is shared through the sharing method of the public link, steps 403, 404, and 411 are performed in sequence. If the sharing link is shared through the sharing method based on location recommendation, steps 405 , 406 , 407 , 408 , and 411 are performed in sequence. If the shared link is shared in a peer-to-peer sharing manner, steps 405, 409, 410, and 411 are performed in sequence.
  • Step 403 the cloud user management system indexes the summary information of the target parking route, and marks it as a public route.
  • step 404 the first user terminal marks successfully, and nearby users can view and download the target parking route.
  • Step 405 the first user terminal clicks the share button.
  • Step 406 the first user terminal selects a sharing channel.
  • Step 407 the cloud user management system indexes the summary information of the target parking route.
  • Step 408 the first user terminal generates a shared link.
  • Step 409 the cloud user management system indexes the summary information of the target parking route.
  • Step 410 the first user terminal inputs the account of the second user.
  • Step 411 the second user terminal clicks the shared link to view and bookmark.
  • FIG. 5 it shows a sequence diagram of an embodiment of judging a shared link, as follows:
  • Step 501 the cloud user management system enters a sharing judgment process.
  • Step 502 the cloud user management system searches the stored registered accounts of the second user through the mobile phone number of the second user.
  • Step 503 the cloud user management system determines whether the mobile phone number of the second user has registered an account.
  • the cloud-based user management system may search the stored registered accounts of the second user through the mobile phone number of the second user. If the mobile phone number of the second user is not found, it is determined that the mobile phone number of the second user has not registered an account, and step 504 is executed. If the mobile phone number of the second user is found, it is determined that the mobile phone number of the second user has registered an account, and step 505 is executed.
  • Step 504 the second user terminal receives the prompt information of "failed to save” fed back by the cloud user management system.
  • the cloud user management The system may feed back prompt information of "failed to save" to the second user terminal.
  • Step 505 the cloud user management system determines whether the account of the second user is associated with a car of the same model as the car of the first user.
  • the cloud user management system can determine whether the account of the second user is associated with a car of the same model as the car of the first user. If there is no car of the same model as that of the first user's car terminal, step 504 is executed. If a car of the same model as the first user's car end is associated, step 506 is executed.
  • Step 506 the cloud user management system determines whether there are multiple associated vehicles with the same model as the first user's vehicle terminal.
  • the cloud user management system can determine whether there are multiple associated cars with the same model as the first user's car end. If there are multiple vehicles, go to step 507 . If it is one, go to step 509.
  • Step 507 the second user terminal receives the prompt information of "select a vehicle" sent by the cloud user management system.
  • the cloud user management system may send a prompt message of "select a vehicle" to the second user terminal.
  • Step 508 the second user terminal determines a vehicle selected by the second user.
  • the second user may select a vehicle from the associated multiple vehicles with the same model as the first user's vehicle terminal according to the prompt information, and send the selected vehicle information to the cloud user management system.
  • Step 509 the cloud user management system determines whether the number of parking routes associated with the account of the second user is less than a preset threshold.
  • the cloud user management system can It is determined whether the number of parking routes associated with the account of the second user is less than a preset threshold. If it is not less than the preset threshold, step 504 is executed. If it is less than the preset threshold, step 510 is executed.
  • Step 510 the second user terminal receives the prompt information of "successful collection" fed back by the cloud user management system.
  • the cloud user management system may feed back prompt information of "successful collection" to the second user terminal. Then, the second user's vehicle terminal can download the target parking route from the cloud map management system.
  • FIG. 6 it shows a sequence diagram of an embodiment of issuing a parking route, as follows:
  • Step 601 the cloud user management system records the summary information of the target parking route collected by the second user terminal.
  • Step 602 the cloud map management system enters the sharing process.
  • Step 603 the cloud map management system indexes the target parking route and suspends the sharing task.
  • Step 604 the second user's vehicle terminal establishes a connection with the cloud map management system.
  • Step 605 the cloud map management system sends the target parking route to the second user's car terminal.
  • step 606 is executed. If the delivery is successful, step 607 is executed.
  • Step 606 the second user terminal receives the prompt information of "sharing failure" fed back by the cloud map management system.
  • Step 607 the second user's vehicle end receives the information.
  • steps 608 to 610 and steps 611 to 615 are executed respectively after the receiving at the second user's vehicle end is completed.
  • Step 608 The cloud map management system receives the prompt information of "received successfully" fed back by the second user's vehicle terminal.
  • Step 609 the cloud user management system completes the sharing.
  • step 610 the first user terminal receives the prompt information "someone has saved your route" fed back by the cloud user management system.
  • Step 611 the second user's vehicle terminal synchronizes the target parking route to the vehicle terminal.
  • Step 612 the second user's vehicle terminal uploads the summary information of the target parking route to the cloud user management system.
  • Step 613 The cloud user management system receives the summary information of the target parking route of the second user's vehicle.
  • Step 614 the second user terminal displays the target parking route.
  • the cloud user management system may deliver the summary information of the target parking route to the second user terminal for display by the second user terminal.
  • FIG. 7 shows a scene graph of one embodiment of parking route reconstruction, as follows:
  • Step 701 vehicle end positioning.
  • a front wide-angle camera, a surround-view camera, an IMU (Inertial Measurement Unit, inertial measurement unit), a GPS (Global Positioning System, global positioning system), and a wheel speed sensor are installed at the second user's vehicle end. If the second user's vehicle is located and enters the geo-fence of the target parking route, turn on the front wide-angle camera, surround-view camera, IMU, GPS, and wheel speed sensors to collect data, and package and upload the data to the cloud map management system.
  • Step 702 creating a map in the cloud.
  • Step 703 vehicle end control.
  • the second user's vehicle terminal can perform vehicle terminal control according to the integrated parking route issued by the cloud map management system.
  • the present disclosure provides an embodiment of a parking route sharing device
  • the device embodiment corresponds to the method embodiment shown in FIG. 2
  • the parking route sharing apparatus 800 in this embodiment may include: a first receiving module 801 and a sending module 802 .
  • the first receiving module 801 is configured to receive a route acquisition request sent by the second client based on the shared link of the target parking route, wherein the shared link is shared by the first client;
  • the sending module 802 is configured to send the target parking route to the destination.
  • the parking route is sent to the second user terminal to instruct the second user terminal to park based on the target parking route.
  • the specific processing of the first receiving module 801 and the sending module 802 and the technical effects brought about by the first receiving module 801 can be referred to the related steps 201-202 in the corresponding embodiment of FIG. 2 respectively. description, which is not repeated here.
  • the parking route sharing apparatus 800 further includes: a second receiving module, configured to receive the first data collected by the first user terminal during the parking process; a learning module, configured by It is configured to learn the target parking route based on the first data.
  • the parking route sharing apparatus 800 further includes: a third receiving module, configured to receive second data collected by the second user terminal during the parking process; a fusion module, configured by It is configured to perform fusion reconstruction based on the second data and the target parking route to obtain a fusion parking route.
  • the sending module 802 is further configured to: in response to determining that the account of the second user satisfies the preset condition, send the target parking route to the second user terminal.
  • the preset conditions of the parking route sharing apparatus 800 include at least one of the following: the second user has registered an account, the account of the second user is associated with at least one vehicle, the second user account associated with at least one car of the same model as the first user's account, the second user selects at least one car of the same model as the first user's account from the cars associated with the second user's account, and the second user's account is associated with The number of parking routes is less than a preset threshold.
  • the parking route sharing apparatus 800 further includes: a fourth receiving module, configured to receive a request for obtaining summary information of the target parking route sent by the first user terminal; an indexing module , which is configured to index the summary information of the target parking route, and send the summary information to the first user terminal, so as to instruct the first user terminal to generate a sharing link based on the summary information.
  • the sharing method of the parking route sharing apparatus 800 to share the link includes at least one of the following: a public link sharing method, a peer-to-peer sharing method, and a location-based recommendation sharing method.
  • the present disclosure also provides an electronic device, a readable storage medium, and a computer program product.
  • FIG. 9 shows a schematic block diagram of an example electronic device 900 that may be used to implement embodiments of the present disclosure.
  • Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers.
  • Electronic devices may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smart phones, wearable devices, and other similar computing devices.
  • the components shown herein, their connections and relationships, and their functions are by way of example only, and are not intended to limit implementations of the disclosure described and/or claimed herein.
  • the device 900 includes a computing unit 901 that can be executed according to a computer program stored in a read only memory (ROM) 902 or a computer program loaded from a storage unit 908 into a random access memory (RAM) 903 Various appropriate actions and handling.
  • ROM read only memory
  • RAM random access memory
  • various programs and data necessary for the operation of the device 900 can also be stored.
  • the computing unit 901, the ROM 902, and the RAM 903 are connected to each other through a bus 904.
  • An input/output (I/O) interface 905 is also connected to bus 904 .
  • Various components in the device 900 are connected to the I/O interface 905, including: an input unit 906, such as a keyboard, mouse, etc.; an output unit 907, such as various types of displays, speakers, etc.; a storage unit 908, such as a magnetic disk, an optical disk, etc. ; and a communication unit 909, such as a network card, a modem, a wireless communication transceiver, and the like.
  • the communication unit 909 allows the device 900 to exchange information/data with other devices through a computer network such as the Internet and/or various telecommunication networks.
  • Computing unit 901 may be various general-purpose and/or special-purpose processing components with processing and computing capabilities. Some examples of computing units 901 include, but are not limited to, central processing units (CPUs), graphics processing units (GPUs), various specialized artificial intelligence (AI) computing chips, various computing units that run machine learning model algorithms, digital signal processing processor (DSP), and any suitable processor, controller, microcontroller, etc.
  • the computing unit 901 executes the various methods and processes described above, such as the parking route sharing method.
  • the parking route sharing method may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as storage unit 908 .
  • part or all of the computer program may be loaded and/or installed on device 900 via ROM 902 and/or communication unit 909.
  • the computer program When the computer program is loaded into RAM 903 and executed by computing unit 901, one or more steps of the parking route sharing method described above may be performed.
  • the computing unit 901 may be configured to perform the parking route sharing method by any other suitable means (eg, by means of firmware).
  • Various implementations of the systems and techniques described herein above may be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips system (SOC), load programmable logic device (CPLD), computer hardware, firmware, software, and/or combinations thereof.
  • FPGAs field programmable gate arrays
  • ASICs application specific integrated circuits
  • ASSPs application specific standard products
  • SOC systems on chips system
  • CPLD load programmable logic device
  • computer hardware firmware, software, and/or combinations thereof.
  • These various embodiments may include being implemented in one or more computer programs executable and/or interpretable on a programmable system including at least one programmable processor that
  • the processor which may be a special purpose or general-purpose programmable processor, may receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device an output device.
  • Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer or other programmable data processing apparatus, such that the program code, when executed by the processor or controller, performs the functions/functions specified in the flowcharts and/or block diagrams. Action is implemented.
  • the program code may execute entirely on the machine, partly on the machine, partly on the machine and partly on a remote machine as a stand-alone software package or entirely on the remote machine or server.
  • a machine-readable medium may be a tangible medium that may contain or store a program for use by or in connection with the instruction execution system, apparatus or device.
  • a machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium.
  • Machine-readable media may include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or devices, or any suitable combination of the foregoing.
  • machine-readable storage media would include one or more wire-based electrical connections, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), fiber optics, compact disk read only memory (CD-ROM), optical storage, magnetic storage, or any suitable combination of the foregoing.
  • RAM random access memory
  • ROM read only memory
  • EPROM or flash memory erasable programmable read only memory
  • CD-ROM compact disk read only memory
  • magnetic storage or any suitable combination of the foregoing.
  • the systems and techniques described herein may be implemented on a computer having a display device (eg, a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user ); and a keyboard and pointing device (eg, a mouse or trackball) through which a user can provide input to the computer.
  • a display device eg, a CRT (cathode ray tube) or LCD (liquid crystal display) monitor
  • a keyboard and pointing device eg, a mouse or trackball
  • Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (eg, visual feedback, auditory feedback, or tactile feedback); and can be in any form (including acoustic input, voice input, or tactile input) to receive input from the user.
  • the systems and techniques described herein may be implemented on a computing system that includes back-end components (eg, as a data server), or a computing system that includes middleware components (eg, an application server), or a computing system that includes front-end components (eg, a user computer having a graphical user interface or web browser through which a user may interact with implementations of the systems and techniques described herein), or including such backend components, middleware components, Or any combination of front-end components in a computing system.
  • the components of the system may be interconnected by any form or medium of digital data communication (eg, a communication network). Examples of communication networks include: Local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.
  • a computer system can include clients and servers.
  • Clients and servers are generally remote from each other and usually interact through a communication network.
  • the relationship of client and server arises by computer programs running on the respective computers and having a client-server relationship to each other.
  • the server can be a cloud server, a distributed system server, or a server combined with blockchain.

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Abstract

本公开提供了一种泊车路线共享方法、装置、电子设备、非瞬时性计算机可读存储介质以及计算机程序产品，涉及自动驾驶技术领域，尤其涉及自主泊车技术领域。该泊车路线共享方法包括：接收第二用户端基于目标泊车路线的共享链接发送的路线获取请求，其中，共享链接由第一用户端分享；将目标泊车路线发送给第二用户端，以使第二用户端基于目标泊车路线进行泊车。本公开提供了记忆泊车用户的泊车路线共享方法，提升了单一用户的泊车路线的应用率，同时减少了其他用户的泊车路线的学习成本。

Description

泊车路线共享方法、装置、设备以及存储介质
交叉引用
本专利申请要求于2021年04月26日提交的、申请号为202110453459.7、发明名称为“泊车路线共享方法、装置、设备以及存储介质”的中国专利申请的优先权，该申请的全文以引用的方式并入本申请中。
技术领域
本公开涉及自动驾驶技术领域，尤其涉及自主泊车技术领域。
背景技术
为了解决开放场景下，最后一公里的泊车需求，记忆泊车功能应运而生。用户只需根据系统提示完成泊车路线的学习，车辆即可在后续使用中根据已学习的泊车路线实现自主泊车。记忆泊车通过车身周围的摄像头和传感器采集数据，通过视觉SLAM(Simultaneous localization and mapping，同步定位与地图构建)技术构造场景地图，不依赖高精地图即可实现高精度定位。
目前，记忆泊车需要用户自建泊车路线，使用自建的泊车路线进行泊车。
发明内容
本公开提出了一种泊车路线共享方法、装置、电子设备、非瞬时性计算机可读存储介质以及计算机程序产品。
第一方面，本公开实施例提出了一种泊车路线共享方法，包括：接收第二用户端基于目标泊车路线的共享链接发送的路线获取请求，其中，共享链接由第一用户端分享；将目标泊车路线发送给第二用户端，以指示第二用户端基于目标泊车路线进行泊车。
第二方面，本公开实施例提出了一种泊车路线共享装置，包括：第一接收模块，被配置成接收第二用户端基于目标泊车路线的共享链接发送的路线获取请求，其中，共享链接由第一用户端分享；发送模块，被配置成将目标泊车路线发送给第二用户端，以指示第二用户端基于目标泊车路线进行泊车。
第三方面，本公开实施例提出了一种电子设备，包括：至少一个处理器；以及与至少一个处理器通信连接的存储器；其中，存储器存储有可被至少一个处理器执行的指令，指令被至少一个处理器执行，以使至少一个处理器能够执行如第一方面中任一实现方式描述的方法。
第四方面，本公开实施例提出了一种存储有计算机指令的非瞬时性计算机可读存储介质，计算机指令用于使计算机执行如第一方面中任一实现方式描述的方法。
第五方面，本公开实施例提出了一种计算机程序产品，包括计算机程序，计算机程序在被处理器执行时实现如第一方面中任一实现方式描述的方法，或者实现如第二方面中任一实现方式描述的方法。
本公开实施例提供了记忆泊车用户的泊车路线共享方法，单一用户的泊车路线可以共享给其他用户。使得原本仅供单一用户使用的泊车路线能够分享给其他用户使用。提升了单一用户的泊车路线的应用率，同时减少了其他用户的泊车路线的学习成本，进而增加了记忆泊车的实用性。此外，在分享泊车路线的过程中，第一用户与第二用户交互，增加了记忆泊车的社交属性。
应当理解，本部分所描述的内容并非旨在标识本公开的实施例的关键或重要特征，也不用于限制本公开的范围。本公开的其它特征将通过以下的说明书而变得容易理解。
附图说明
通过阅读参照以下附图所作的对非限制性实施例所作的详细描述，本公开的其它特征、目的和优点将会变得更明显。附图用于更好地理解本方案，不构成对本公开的限定。其中：
图1是本公开应用场景的示例性系统架构图；
图2是本公开的泊车路线共享方法的一个实施例的流程图；
图3是本公开的泊车路线共享方法的又一个实施例的流程图；
图4是分享共享链接的一个实施例的时序图；
图5是对分享共享链接进行判断的一个实施例的时序图；
图6是下发泊车路线的一个实施例的时序图；
图7是泊车路线重建的一个实施例的场景图；
图8是本公开的泊车路线共享装置的一个实施例的结构示意图；
图9是用于实现本公开实施例的泊车路线共享方法的电子设备的框图。
具体实施方式
以下结合附图对本公开的示范性实施例做出说明，其中包括本公开实施例的各种细节以助于理解，应当将它们认为仅仅是示范性的。因此，本领域普通技术人员应当认识到，可以对这里描述的实施例做出各种改变和修改，而不会背离本公开的范围和精神。同样，为了清楚和简明，以下的描述中省略了对公知功能和结构的描述。
需要说明的是，在不冲突的情况下，本公开中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本公开。
图1示出了本公开应用场景的示例性系统架构100。
如图1所示，系统架构100可以包括第一用户端101、第二用户端102、网络103和云端104。网络103用以在第一用户端101、第二用户端102和云端104之间提供通信链路的介质。网络103可以包括各种连接类型，例如有线、无线通信链路或者光纤电缆等等。第一用户端101可以包括第一用户终端1011和第一用户车端1012。第二用户端102可以包括第二用户终端1021和第二用户车端1022。云端104可以包括云端用户管理系统1041和云端地图管理系统1042。
第一用户端101可以将其泊车路线通过云端104分享给第二用户端102，以供第二用户端102进行泊车。
云端104可以存储第一用户端101的泊车路线，在接收到第二用 户端102的路线获取请求的情况下，将第一用户端101的泊车路线发送给第二用户端102。
需要说明的是，本公开实施例所提供的泊车路线共享方法一般由云端104执行，相应地，泊车路线共享装置一般设置于云端104中。
应该理解，图1中的第一用户端、第二用户端和云端的数目仅仅是示意性的。根据实现需要，可以具有任意数目的第一用户端、第二用户端和云端。
继续参考图2，其示出了示出了本公开的泊车路线共享方法的一个实施例的流程200。该泊车路线共享方法包括以下步骤：
步骤201，接收第二用户端基于目标泊车路线的共享链接发送的路线获取请求。
在本实施例中，第一用户端可以分享目标泊车路线的共享链接。若第二用户端获取到共享链接，可以基于共享链接向云端发送路线获取请求。
这里，目标泊车路线可以是第一用户端的泊车路线，包括但不限于基于第一用户端采集的数据学习的泊车路线、第一用户端下载的泊车路线等等。其中，第一用户端下载的泊车路线可以是其他用户端的泊车路线。通常，其他用户端共享的泊车路线存储在云端，第一用户端可以从云端下载。基于第一用户端采集的数据学习的泊车路线可以由第一用户端学习得到，也可以由云端学习得到。通常，若当前网络情况较佳，可以将第一用户端采集的数据发送至云端，由云端学习泊车路线。若当前网络情况较差，可以由第一用户端学习泊车路线。在网络情况转变为较佳时，再将泊车路线发送至云端。
这里，目标泊车路线的共享链接可以是基于目标泊车路线的概要信息生成的。为了节省用户端的存储空间，可以将泊车路线的概要信息存储在云端。此时，第一用户端可以向云端发送目标泊车路线的概要信息获取请求。其中，概要信息获取请求可以包括目标泊车路线的标识。云端可以基于目标泊车路线的标识索引目标泊车路线的概要信息，并将概要信息发送给第一用户端。第一用户端可以基于概要信息生成共享链接。例如，第一用户端可以打开记忆泊车页面。记忆泊车页面上显示有第一用户端的泊车路线的标识列表。第一用户可以从中选择任意一条泊车路线作为 目标泊车路线。
这里，第一用户端可以通过多种分享方式灵活地将目标泊车路线的共享链接分享给第二用户端。
其一，公开链接的分享方式：即，生成公开的共享链接，任意用户均可以基于共享链接下载泊车路线。具体地，记忆泊车页面上设置有路线分享按钮，第一用户在选择目标泊车路线之后，可以点击路线分享按钮。此时，记忆泊车页面上可以显示多个共享渠道。第一用户可以选择任意一个共享渠道发布共享链接。其中，共享渠道可以包括但不限于社交应用的社交空间、社交应用的群聊。共享链接可以发布在社交应用的社交空间上，或分享到社交应用的群聊中。
其二，点对点的分享方式：即，第一用户将泊车路线指定共享给第二用户。具体地，记忆泊车页面上可以设置有账号输入框和路线分享按钮。第一用户可以在账号输入框输入第二用户的账号，并点击路线分享按钮。此时，共享链接可以通过第二用户的账号分享给第二用户端。
其三，基于位置推荐的分享方式：即，基于位置的路线推荐服务，任意用户可以查看附近的泊车路线。具体地，记忆泊车页面上可以设置有授权公开按钮。第一用户在选择目标泊车路线之后，可以点击授权公开按钮。云端可以获取第二用户端的位置。若第二用户端的位置在目标泊车路线的共享范围内(例如目标泊车路线附近300米内)，将共享链接分享给第二用户端。
这里，第二用户可以点击第二用户端接收到的目标泊车路线的共享链接。当第二用户点击目标泊车路线的共享链接时，可以触发向云端发送路线获取请求。
步骤202，将目标泊车路线发送给第二用户端，以指示第二用户端基于目标泊车路线进行泊车。
在本实施例中，在接收到路线获取请求之后，云端可以将目标泊车路线发送给第二用户端。第二用户端可以基于目标泊车路线进行泊车，帮助用户取车或还车。
在一些实施例中，目标泊车路线的终点是目标车位。此时，基于目标泊车路线泊车的车辆可以自动前往目标车位。在一些实施例中，目标泊车 路线的终点是第二用户的位置。此时，基于目标泊车路线泊车的车辆可以自主召唤出库，到达第二用户的位置。在用户因手提重物或天气炎热等原因不便取车或还车的情况下，可以直接基于目标泊车路线帮助用户远距离取车或还车，拓展了泊车功能的使用场景，从而能够更好地为用户服务。
通常，在环境较为简单，且变化较小的情况下，第二用户端可以直接按照目标泊车路线进行泊车。在环境较为复杂，且变化较大的情况下，第二用户端可以在按照目标泊车路线进行泊车的过程中采集数据。基于采集的数据和目标泊车路线进行融合重建，得到融合泊车路线。然后，第二用户端可以按照融合泊车路线进行泊车。需要说明的是，融合泊车路线可以由第二用户端学习得到，也可以由云端学习得到。具体学习方式可以参考目标泊车路线，这里不再赘述。
在本实施例的一些可选的实现方式中，第一用户端可以包括第一用户终端和第一用户车端。第二用户端可以包括第二用户终端和第二用户车端。与交互相关的操作由用户终端执行。例如，分享共享链接、发送路线获取请求等由用户终端执行。与泊车相关的操作由用户车端执行。例如，采集数据、下载泊车路线、基于泊车路线泊车等由用户车端执行。云端可以包括云端用户管理系统和云端地图管理系统。云端用户管理系统可以用于存储用户信息和泊车路线的概要信息。云端地图管理系统可以用于生成和存储泊车路线。
随着用户对泊车路线使用场景、使用地点的需求越来越丰富，单一用户个人学习的泊车路线不足以满足需求，同时不同用户学习的路线使得地图数据越来越丰富。因此，本公开实施例提供了记忆泊车用户的泊车路线共享方法，单一用户的泊车路线可以共享给其他用户，使得原本仅供单一用户使用的泊车路线能够分享给其他用户使用。本实施例提升了单一用户的泊车路线的应用率，同时减少了其他用户的泊车路线的学习成本，进而增加了记忆泊车的实用性。此外，在分享泊车路线的过程中，第一用户与第二用户交互，增加了记忆泊车的社交属性。
进一步参考图3，其示出了本公开的泊车路线共享方法的又一个实施例的流程300。该泊车路线共享方法包括以下步骤：
步骤301，接收第一用户端在泊车过程中采集的第一数据。
在本实施例中，第一用户端在泊车过程中可以采集第一数据，并将第一数据发送至云端。
通常，第一用户端配置有摄像头(如广角摄像头、环视摄像头等)和超声波雷达等传感器。这些传感器可以在泊车过程中采集第一数据。
步骤302，基于第一数据，学习得到目标泊车路线。
在本实施例中，云端可以基于第一数据，学习得到目标泊车路线。通常，云端可以通过视觉SLAM技术构造目标泊车路线，从而不依赖高精地图即可实现高精定位。
步骤303，接收第二用户端基于目标泊车路线的共享链接发送的路线获取请求。
在本实施例中，步骤303具体操作已在图2所示的实施例中步骤201进行了详细的介绍，在此不再赘述。
步骤304，判断第二用户的账号是否满足预设条件。
在本实施例中，云端可以判断第二用户的账号是否满足预设条件。在第二用户的账号不满足预设条件的情况下，结束流程；在第二用户的账号满足预设条件的情况下，执行步骤305。
步骤305，将目标泊车路线发送给第二用户端，以指示第二用户端基于目标泊车路线进行泊车。
在本实施例中，在第二用户的账号满足预设条件的情况下，云端可以将目标泊车路线发送给第二用户端。第二用户端可以基于目标泊车路线进行泊车。通过判断第二用户的账号是否满足预设条件，来确定是否发送目标泊车路线，从而使发送的目标泊车路线更适合第二用户端泊车使用。
其中，预设条件可以是预先设置的与账号相关的条件。例如，预设条件可以包括但不限于以下至少一项：第二用户的账户已注册、第二用户的账号关联至少一辆车、第二用户的账号关联至少一辆与第一用户端的车型相同的车、第二用户从第二用户的账号关联的车中选中至少一辆与第一用户端的车型相同的车、第二用户的账号关联的泊车路线的数目小于预设阈值等等。
通常，第二用户的账号关联的车可以是与第二用户有关的车，包括但不限于第二用户名下的车，第二用户曾经驾驶过的车等等。在一些应用场 景中，第二用户的账号可以关联多辆车。关联的多辆车中既可以有与第一用户端的车型相同的车，又可以有与第一用户端的车型不同的车。由于相同车型的车之间更适合共享泊车路线，因此一般会在第二用户的账号关联有与第一用户端的车型相同的车时发送泊车路线。而在第二用户的账号关联多辆与第一用户端的车型相同的车的情况下，就需要用户从中选择用于接收泊车路线的一辆或多辆车。例如，在第二用户端上显示其账号关联的车的标识列表。其中，与第一用户端的车型相同的车的标识以区别其他车的标识的形式(如不同于其他车的标识的字体颜色、在标识附近增加标志性图案等)进行显示。当第二用户点击一辆或多辆与第一用户端的车型相同的车的标识时，第二用户端可以将用户点击的车的标识发送至云端。云端可以根据接收到的车的标识，确定第二用户选中的车，即可向第二用户选中的车发送泊车路线。
步骤306，接收第二用户端在泊车过程中采集的第二数据。
在本实施例中，第二用户端可以在按照目标泊车路线进行泊车的同时采集第二数据，并将第二数据发送至云端。
通常，第二用户端配置有摄像头(如广角摄像头、环视摄像头等)和超声波雷达等传感器。这些传感器可以在泊车过程中采集第二数据。
步骤307，基于第二数据和目标泊车路线进行融合重建，得到融合泊车路线。
在本实施例中，云端可以基于第二用户端采集的数据和目标泊车路线进行融合重建，得到融合泊车路线。云端可以将融合泊车路线发送至第二用户端。然后，第二用户端可以按照融合泊车路线进行泊车。其中，云端可以通过视觉SLAM技术重建泊车路线。
通常，多用户端共同使用第一用户端的目标泊车路线。不同用户端进入目标泊车路线地理围栏范围，将开启数据记录，并打包上传到云端。云端将多次历史数据融合重建路线，下发更新后的泊车路线到用户端，完善泊车路线的场景适应性。
在本实施例的一些可选的实现方式中，第一用户端可以包括第一用户终端和第一用户车端。第二用户端可以包括第二用户终端和第二用户车端。与交互相关的操作由用户终端执行。例如，分享共享链接、发送路 线获取请求等由用户终端执行。与泊车相关的操作由用户车端执行。例如，采集数据、下载泊车路线、基于泊车路线泊车等由用户车端执行。云端可以包括云端用户管理系统和云端地图管理系统。云端用户管理系统可以用于存储用户信息和泊车路线的概要信息。云端地图管理系统可以用于生成和存储泊车路线。
从图3中可以看出，与图2对应的实施例相比，本实施例中的泊车路线共享方法增加了泊车路线的生成步骤和更新步骤。由此，本实施例描述的方案在云端生成和更新泊车路线，由于云端计算能力更强，提高了更新泊车路线的计算速度，减少了对用户端计算资源的占用。在根据泊车路线进行泊车的过程中，实时采集数据进行泊车路线更新，能够适应复杂多变的环境。借助泊车路线的云端学习能力，多用户端对泊车路线进行融合重建，能够剔除无效过时的路线特征，补充场景中新的路线特征，提高了泊车路线的场景适应性，提升了泊车路线的鲁棒性。
进一步参考图4，其示出了分享共享链接的一个实施例的时序图，具体如下：
步骤401，第一用户终端打开记忆泊车页面。
步骤402，第一用户终端选择目标泊车路线。
这里，第一用户终端选择目标泊车路线，分享其共享链接。分享方式可以包括公开链接的分享方式、点对点的分享方式和基于位置推荐的分享方式。若通过公共链接的分享方式分享共享链接，则依次执行步骤403、404、411。若通过基于位置推荐的分享方式分享共享链接，则依次执行步骤405、406、407、408、411。若通过点对点的分享方式分享共享链接，则依次执行步骤405、409、410、411。
步骤403，云端用户管理系统索引目标泊车路线的概要信息，并标记为公开路线。
步骤404，第一用户终端标记成功，附近用户可以查看并下载目标泊车路线。
步骤405，第一用户终端点击分享按钮。
步骤406，第一用户终端选择分享渠道。
步骤407，云端用户管理系统索引目标泊车路线的概要信息。
步骤408，第一用户终端生成共享链接。
步骤409，云端用户管理系统索引目标泊车路线的概要信息。
步骤410，第一用户终端输入第二用户的账号。
步骤411，第二用户终端点击共享链接查看并收藏。
进一步参考图5，其示出了对分享共享链接进行判断的一个实施例的时序图，具体如下：
步骤501，云端用户管理系统进入分享判断流程。
步骤502，云端用户管理系统通过第二用户的手机号在其存储的已注册账号中进行搜索。
步骤503，云端用户管理系统确定第二用户的手机号是否已注册账号。
这里，云端用户管理系统可以通过第二用户的手机号在其存储的已注册账号中进行搜索。若未搜索到第二用户的手机号，确定第二用户的手机号未注册账号，执行步骤504。若搜索到第二用户的手机号，确定第二用户的手机号已注册账号，执行步骤505。
步骤504，第二用户终端接收云端用户管理系统反馈的“收藏失败”的提示信息。
这里，若未搜索到第二用户的手机号，或者未关联有与第一用户车端的车型相同的车，或者第二用户的账号关联的泊车路线的数目不小于预设阈值，云端用户管理系统可以向第二用户终端反馈“收藏失败”的提示信息。
步骤505，云端用户管理系统确定第二用户的账号是否关联有与第一用户车端的车型相同的车。
这里，若搜索到第二用户的手机号，云端用户管理系统可以确定第二用户的账号是否关联有与第一用户车端的车型相同的车。若未关联有与第一用户车端的车型相同的车，执行步骤504。若关联有与第一用户车端的车型相同的车，执行步骤506。
步骤506，云端用户管理系统确定关联的与第一用户车端的车型相同的车是否为多辆。
这里，若关联有与第一用户车端的车型相同的车，云端用户管理系统可以确定关联的与第一用户车端的车型相同的车是否为多辆。若为多辆， 执行步骤507。若为一辆，执行步骤509。
步骤507，第二用户终端接收云端用户管理系统发送的“选择车辆”的提示信息。
这里，若关联的与第一用户车端的车型相同的车为多辆，云端用户管理系统可以向第二用户终端发送“选择车辆”的提示信息。
步骤508，第二用户终端确定第二用户选择的一辆车。
这里，第二用户可以根据提示信息从关联的与第一用户车端的车型相同的多辆车中选择一辆车，并向云端用户管理系统发送选择的车辆信息。
步骤509，云端用户管理系统确定第二用户的账号关联的泊车路线的数目是否小于预设阈值。
这里，若关联的与第一用户车端的车型相同的车为一辆，或者第一用户终端从关联的与第一用户车端的车型相同的多辆车中选择一辆车，云端用户管理系统可以确定第二用户的账号关联的泊车路线的数目是否小于预设阈值。若不小于预设阈值，执行步骤504。若小于预设阈值，执行步骤510。
步骤510，第二用户终端接收云端用户管理系统反馈的“收藏成功”的提示信息。
这里，若小于预设阈值，云端用户管理系统可以向第二用户终端反馈“收藏成功”的提示信息。然后，第二用户车端即可从云端地图管理系统下载目标泊车路线。
进一步参考图6，其示出了下发泊车路线的一个实施例的时序图，具体如下：
步骤601，云端用户管理系统记录第二用户终端收藏的目标泊车路线的概要信息。
步骤602，云端地图管理系统进入分享流程。
步骤603，云端地图管理系统索引目标泊车路线，挂起分享任务。
步骤604，第二用户车端与云端地图管理系统建立连接。
步骤605，云端地图管理系统将目标泊车路线下发至第二用户车端。
这里，若下发失败，则执行步骤606。若下发成功，则执行步骤607。
步骤606，第二用户终端接收云端地图管理系统反馈的“分享失败”的提示信息。
步骤607，第二用户车端接收完成。
这里，在第二用户车端接收完成之后，分别执行步骤608-610和步骤611-615。
步骤608，云端地图管理系统接收第二用户车端反馈的“接收成功”的提示信息。
步骤609，云端用户管理系统完成本次分享。
步骤610，第一用户终端接收云端用户管理系统反馈的“有人收藏了你的路线”的提示信息。
步骤611，第二用户车端同步目标泊车路线至车端。
步骤612，第二用户车端上传目标泊车路线的概要信息至云端用户管理系统。
步骤613，云端用户管理系统接收第二用户车端的目标泊车路线的概要信息。
步骤614，第二用户终端显示目标泊车路线。
这里，云端用户管理系统可以将目标泊车路线的概要信息下发到第二用户终端，以供第二用户终端进行显示。
进一步参考图7，其示出了泊车路线重建的一个实施例的场景图，具体如下：
步骤701，车端定位。
通常，第二用户车端安装有前广角摄像头、环视摄像头、IMU(Inertial Measurement Unit，惯性测量单元)、GPS(Global Positioning System，全球定位系统)、轮速传感器。若定位到第二用户车端进入目标泊车路线地理围栏范围，开启前广角摄像头、环视摄像头、IMU、GPS和轮速传感器采集数据，并将数据打包上传至云端地图管理系统。
步骤702，云端建图。
步骤703，车端控制。
通常，第二用户车端可以根据云端地图管理系统下发的融合泊车路线进行车端控制。
进一步参考图8，作为对上述各图所示方法的实现，本公开提供了一种泊车路线共享装置的一个实施例，该装置实施例与图2所示的方法实施例相对应，该装置具体可以应用于各种电子设备中。
如图8所示，本实施例的泊车路线共享装置800可以包括：第一接收模块801和发送模块802。其中，第一接收模块801，被配置成接收第二用户端基于目标泊车路线的共享链接发送的路线获取请求，其中，共享链接由第一用户端分享；发送模块802，被配置成将目标泊车路线发送给第二用户端，以指示第二用户端基于目标泊车路线进行泊车。
在本实施例中，泊车路线共享装置800中：第一接收模块801和发送模块802的具体处理及其所带来的技术效果可分别参考图2对应实施例中的步骤201-202的相关说明，在此不再赘述。
在本实施例的一些可选的实现方式中，泊车路线共享装置800还包括：第二接收模块，被配置成接收第一用户端在泊车过程中采集的第一数据；学习模块，被配置成基于第一数据，学习得到目标泊车路线。
在本实施例的一些可选的实现方式中，泊车路线共享装置800还包括：第三接收模块，被配置成接收第二用户端在泊车过程中采集的第二数据；融合模块，被配置成基于第二数据和目标泊车路线进行融合重建，得到融合泊车路线。
在本实施例的一些可选的实现方式中，发送模块802进一步被配置成：响应于确定第二用户的账号满足预设条件，将目标泊车路线发送给第二用户端。
在本实施例的一些可选的实现方式中，泊车路线共享装置800预设条件包括以下至少一项：第二用户已注册有账号、第二用户的账号关联至少一辆车、第二用户的账号关联至少一辆与第一用户端的车型相同的车、第二用户从第二用户的账号关联的车中选中至少一辆与第一用户端的车型相同的车、第二用户的账号关联的泊车路线的数目小于预设阈值。
在本实施例的一些可选的实现方式中，泊车路线共享装置800装置还包括：第四接收模块，被配置成接收第一用户端发送的目标泊车路线的概要信息获取请求；索引模块，被配置成索引目标泊车路线的概要信息，并将概要信息发送给第一用户端，以指示第一用户端基于概要信息生成 共享链接。
在本实施例的一些可选的实现方式中，泊车路线共享装置800共享链接的分享方式包括以下至少一项：公开链接的分享方式、点对点的分享方式、基于位置推荐的分享方式。
本公开的技术方案中，所涉及的用户个人信息的获取，存储和应用等，均符合相关法律法规的规定，且不违背公序良俗。
根据本公开的实施例，本公开还提供了一种电子设备、一种可读存储介质和一种计算机程序产品。
图9示出了可以用于实现本公开的实施例的示例电子设备900的示意性框图。电子设备旨在表示各种形式的数字计算机，诸如，膝上型计算机、台式计算机、工作台、个人数字助理、服务器、刀片式服务器、大型计算机、和其它适合的计算机。电子设备还可以表示各种形式的移动装置，诸如，个人数字处理、蜂窝电话、智能电话、可穿戴设备和其它类似的计算装置。本文所示的部件、它们的连接和关系、以及它们的功能仅仅作为示例，并且不意在限制本文中描述的和/或者要求的本公开的实现。
如图9所示，设备900包括计算单元901，其可以根据存储在只读存储器(ROM)902中的计算机程序或者从存储单元908加载到随机访问存储器(RAM)903中的计算机程序，来执行各种适当的动作和处理。在RAM 903中，还可存储设备900操作所需的各种程序和数据。计算单元901、ROM 902以及RAM 903通过总线904彼此相连。输入/输出(I/O)接口905也连接至总线904。
设备900中的多个部件连接至I/O接口905，包括：输入单元906，例如键盘、鼠标等；输出单元907，例如各种类型的显示器、扬声器等；存储单元908，例如磁盘、光盘等；以及通信单元909，例如网卡、调制解调器、无线通信收发机等。通信单元909允许设备900通过诸如因特网的计算机网络和/或各种电信网络与其他设备交换信息/数据。
计算单元901可以是各种具有处理和计算能力的通用和/或专用处理组件。计算单元901的一些示例包括但不限于中央处理单元(CPU)、图形处理单元(GPU)、各种专用的人工智能(AI)计算芯 片、各种运行机器学习模型算法的计算单元、数字信号处理器(DSP)、以及任何适当的处理器、控制器、微控制器等。计算单元901执行上文所描述的各个方法和处理，例如泊车路线共享方法。例如，在一些实施例中，泊车路线共享方法可被实现为计算机软件程序，其被有形地包含于机器可读介质，例如存储单元908。在一些实施例中，计算机程序的部分或者全部可以经由ROM 902和/或通信单元909而被载入和/或安装到设备900上。当计算机程序加载到RAM 903并由计算单元901执行时，可以执行上文描述的泊车路线共享方法的一个或多个步骤。备选地，在其他实施例中，计算单元901可以通过其他任何适当的方式(例如，借助于固件)而被配置为执行泊车路线共享方法。
本文中以上描述的系统和技术的各种实施方式可以在数字电子电路系统、集成电路系统、场可编程门阵列(FPGA)、专用集成电路(ASIC)、专用标准产品(ASSP)、芯片上系统的系统(SOC)、负载可编程逻辑设备(CPLD)、计算机硬件、固件、软件、和/或它们的组合中实现。这些各种实施方式可以包括：实施在一个或者多个计算机程序中，该一个或者多个计算机程序可在包括至少一个可编程处理器的可编程系统上执行和/或解释，该可编程处理器可以是专用或者通用可编程处理器，可以从存储系统、至少一个输入装置、和至少一个输出装置接收数据和指令，并且将数据和指令传输至该存储系统、该至少一个输入装置、和该至少一个输出装置。
用于实施本公开的方法的程序代码可以采用一个或多个编程语言的任何组合来编写。这些程序代码可以提供给通用计算机、专用计算机或其他可编程数据处理装置的处理器或控制器，使得程序代码当由处理器或控制器执行时使流程图和/或框图中所规定的功能/操作被实施。程序代码可以完全在机器上执行、部分地在机器上执行，作为独立软件包部分地在机器上执行且部分地在远程机器上执行或完全在远程机器或服务器上执行。
在本公开的上下文中，机器可读介质可以是有形的介质，其可以包含或存储以供指令执行系统、装置或设备使用或与指令执行系统、装置或设备结合地使用的程序。机器可读介质可以是机器可读信号介 质或机器可读储存介质。机器可读介质可以包括但不限于电子的、磁性的、光学的、电磁的、红外的、或半导体系统、装置或设备，或者上述内容的任何合适组合。机器可读存储介质的更具体示例会包括基于一个或多个线的电气连接、便携式计算机盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦除可编程只读存储器(EPROM或快闪存储器)、光纤、便捷式紧凑盘只读存储器(CD-ROM)、光学储存设备、磁储存设备、或上述内容的任何合适组合。
为了提供与用户的交互，可以在计算机上实施此处描述的系统和技术，该计算机具有：用于向用户显示信息的显示装置(例如，CRT(阴极射线管)或者LCD(液晶显示器)监视器)；以及键盘和指向装置(例如，鼠标或者轨迹球)，用户可以通过该键盘和该指向装置来将输入提供给计算机。其它种类的装置还可以用于提供与用户的交互；例如，提供给用户的反馈可以是任何形式的传感反馈(例如，视觉反馈、听觉反馈、或者触觉反馈)；并且可以用任何形式(包括声输入、语音输入或者、触觉输入)来接收来自用户的输入。
可以将此处描述的系统和技术实施在包括后台部件的计算系统(例如，作为数据服务器)、或者包括中间件部件的计算系统(例如，应用服务器)、或者包括前端部件的计算系统(例如，具有图形用户界面或者网络浏览器的用户计算机，用户可以通过该图形用户界面或者该网络浏览器来与此处描述的系统和技术的实施方式交互)、或者包括这种后台部件、中间件部件、或者前端部件的任何组合的计算系统中。可以通过任何形式或者介质的数字数据通信(例如，通信网络)来将系统的部件相互连接。通信网络的示例包括：局域网(LAN)、广域网(WAN)和互联网。
计算机系统可以包括客户端和服务器。客户端和服务器一般远离彼此并且通常通过通信网络进行交互。通过在相应的计算机上运行并且彼此具有客户端-服务器关系的计算机程序来产生客户端和服务器的关系。服务器可以是云服务器，也可以是分布式系统的服务器，或者是结合了区块链的服务器。
应该理解，可以使用上面所示的各种形式的流程，重新排序、增 加或删除步骤。例如，本公开中记载的各步骤可以并行地执行也可以顺序地执行也可以不同的次序执行，只要能够实现本公开提供的技术方案所期望的结果，本文在此不进行限制。
上述具体实施方式，并不构成对本公开保护范围的限制。本领域技术人员应该明白的是，根据设计要求和其他因素，可以进行各种修改、组合、子组合和替代。任何在本公开的精神和原则之内所作的修改、等同替换和改进等，均应包含在本公开保护范围之内。

Claims (17)

  1. 一种泊车路线共享方法，包括：
    接收第二用户端基于目标泊车路线的共享链接发送的路线获取请求，其中，所述共享链接由第一用户端分享；
    将所述目标泊车路线发送给所述第二用户端，以指示所述第二用户端基于所述目标泊车路线进行泊车。
  2. 根据权利要求1所述的方法，还包括：
    接收所述第一用户端在泊车过程中采集的第一数据；
    基于所述第一数据，学习得到所述目标泊车路线。
  3. 根据权利要求1所述的方法，还包括：
    接收所述第二用户端在泊车过程中采集的第二数据；
    基于所述第二数据和所述目标泊车路线进行融合重建，得到融合泊车路线。
  4. 根据权利要求1-3中任一项所述的方法，其中，所述将所述目标泊车路线发送给所述第二用户端，包括：
    响应于确定第二用户的账号满足预设条件，将所述目标泊车路线发送给所述第二用户端。
  5. 根据权利要求4所述的方法，其中，所述预设条件包括以下至少一项：所述第二用户的账号已注册、所述第二用户的账号关联至少一辆车、所述第二用户的账号关联至少一辆与所述第一用户端的车型相同的车、所述第二用户从所述第二用户的账号关联的车中选中至少一辆与所述第一用户端的车型相同的车、所述第二用户的账号关联的泊车路线的数目小于预设阈值。
  6. 根据权利要求1-5中任一项所述的方法，还包括：
    接收所述第一用户端发送的所述目标泊车路线的概要信息获取请求；
    索引所述目标泊车路线的概要信息，并将所述概要信息发送给所述第一用户端，以指示所述第一用户端基于所述概要信息生成所述共享链接。
  7. 根据权利要求1-6中任一项所述的方法，其中，所述共享链接的分享方式包括以下至少一项：公开链接的分享方式、点对点的分享方式、基于位置推荐的分享方式。
  8. 一种泊车路线共享装置，包括：
    第一接收模块，被配置成接收第二用户端基于目标泊车路线的共享链接发送的路线获取请求，其中，所述共享链接由第一用户端分享；
    发送模块，被配置成将所述目标泊车路线发送给所述第二用户端，以指示所述第二用户端基于所述目标泊车路线进行泊车。
  9. 根据权利要求8所述的装置，其中，所述装置还包括：
    第二接收模块，被配置成接收所述第一用户端在泊车过程中采集的第一数据；
    学习模块，被配置成基于所述第一数据，学习得到所述目标泊车路线。
  10. 根据权利要求8所述的装置，其中，所述装置还包括：
    第三接收模块，被配置成接收所述第二用户端在泊车过程中采集的第二数据；
    融合模块，被配置成基于所述第二数据和所述目标泊车路线进行融合重建，得到融合泊车路线。
  11. 根据权利要求8-10中任一项所述的装置，其中，所述发送模块进一步被配置成：
    响应于确定第二用户的账号满足预设条件，将所述目标泊车路线发送给所述第二用户端。
  12. 根据权利要求11所述的装置，其中，所述预设条件包括以下至少一项：所述第二用户的账号已注册、所述第二用户的账号关联至少一辆车、所述第二用户的账号关联至少一辆与所述第一用户端的车型相同的车、所述第二用户从所述第二用户的账户关联的车中选中至少一辆与所述第一用户端的车型相同的车、所述第二用户的账号关联的泊车路线的数目小于预设阈值。
  13. 根据权利要求8-12中任一项所述的装置，其中，所述装置还包括：
    第四接收模块，被配置成接收所述第一用户端发送的所述目标泊车路线的概要信息获取请求；
    索引模块，被配置成索引所述目标泊车路线的概要信息，并将所述概要信息发送给所述第一用户端，以指示所述第一用户端基于所述概要信息生成所述共享链接。
  14. 根据权利要求8-13中任一项所述的装置，其中，所述共享链接的分享方式包括以下至少一项：公开链接的分享方式、点对点的分享方式、基于位置推荐的分享方式。
  15. 一种电子设备，包括：
    至少一个处理器；以及
    与所述至少一个处理器通信连接的存储器；其中，
    所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行权利要求1-7中任一项所述的方法。
  16. 一种存储有计算机指令的非瞬时性计算机可读存储介质，所述计算机指令用于使所述计算机执行权利要求1-7中任一项所述的方法。
  17. 一种计算机程序产品，包括计算机程序，所述计算机程序在被处理器执行时实现根据权利要求1-7中任一项所述的方法。
PCT/CN2022/071788 2021-04-26 2022-01-13 泊车路线共享方法、装置、设备以及存储介质 WO2022227711A1 (zh)

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