WO2024002202A1 - 一种停车交互的方法、装置及系统 - Google Patents

一种停车交互的方法、装置及系统 Download PDF

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Publication number
WO2024002202A1
WO2024002202A1 PCT/CN2023/103533 CN2023103533W WO2024002202A1 WO 2024002202 A1 WO2024002202 A1 WO 2024002202A1 CN 2023103533 W CN2023103533 W CN 2023103533W WO 2024002202 A1 WO2024002202 A1 WO 2024002202A1
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WIPO (PCT)
Prior art keywords
parking
area
information
vehicle
parking space
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2023/103533
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English (en)
French (fr)
Inventor
廖晓锋
赵亚西
杨京寰
郭子衡
吴思凡
汤秋缘
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Huawei Technologies Co Ltd
Original Assignee
Huawei Technologies Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Huawei Technologies Co Ltd filed Critical Huawei Technologies Co Ltd
Priority to EP23830373.9A priority Critical patent/EP4539014A4/en
Publication of WO2024002202A1 publication Critical patent/WO2024002202A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/586—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of parking space
    • 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
    • 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
    • G08G1/144—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces on portable or mobile units, e.g. personal digital assistant [PDA]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically

Definitions

  • the embodiments of the present application relate to the field of vehicle technology, and more specifically, to a method, device and system for parking interaction.
  • Embodiments of the present application provide a method, device and system for parking interaction.
  • a vehicle enters the parking area, information about the parking area is obtained and the parking position of the vehicle is determined, thereby improving the user's car-finding experience.
  • a parking interaction method includes: when the vehicle enters the first area, obtaining the information of the first area; when the vehicle enters the second area, obtaining the information of the second area, The second area is located within the first area; the parking location information of the vehicle is determined based on the information of the first area and the information of the second area.
  • a parking lot may have multiple levels of zoning to facilitate management.
  • the indoor parking lot may include multiple parking floors (such as the first underground floor, the second underground floor, "B1 floor”, the third floor, etc.), and the parking floors may include one or more parking zones (such as “Area”, “Area B", “B-17”, “H-10-2", “Area xx", etc.), in the same parking floor or in the same parking zone, can include multiple parking spaces (such as “ A106", “W237", “0145”, etc.);
  • outdoor parking lots can also include multiple parking zones and multiple parking spaces. For the sake of simplicity, they will not be described here.
  • the information of the first area may be the environmental information of the first area.
  • the image information of the first area is collected according to the on-board sensor of the vehicle.
  • the image information may be the image information of the first area that the vehicle passes through while driving. image information.
  • image information For example, after the vehicle enters the parking lot, until the vehicle completes parking in the parking space, that is to say, the vehicle enters the parking lot to find a parking space until it completes parking (also called parking), it can pass through one or more A parking floor, and/or, one or more parking zones. In this process, information about the parking floor and/or parking zone where the vehicle is located can be obtained based on the location of the vehicle.
  • the vehicle can obtain changes in vehicle posture through vehicle-mounted sensors, such as vehicle pitch angle, vehicle position changes, etc., and then determine the vehicle based on the vehicle pitch angle change.
  • the relative change of the floor where the vehicle is located (for example, according to the pitch angle of the vehicle, the number of inter-floor passages that the vehicle passes through when going uphill or downhill can be determined, and the relative change of the floor where the vehicle is located can be determined to determine the current floor location of the vehicle;
  • the relative change of the floor can be determined based on the vehicle's pitch angle, combined with the vehicle's driving path and the vehicle's climbing height, to determine the current floor location of the vehicle, etc.).
  • Identification information of the inter-floor passage to determine the floor where the vehicle is located for example, the vehicle can obtain the image information around the vehicle during driving through the image sensor. For example, the vehicle can obtain the image information of the inter-floor passage that the vehicle passes through, and identify the suspension in the passage. Or posted floor signs can determine the floor that the vehicle will drive into to determine the floor location of the vehicle; another example is to determine the location of the floor where the vehicle is located based on the number of inter-floor passages and intersections between floors that the vehicle passes through.
  • the information of that floor can be displayed on the vehicle's central control screen and other interactive devices (for example, "You are currently on the second underground floor”, etc.), in the vehicle After entering the parking space, the latest recognized floor information can be determined as the information of the floor where the parking position is located; for another example, in the process from entering the parking lot to completing parking, the vehicle can pass through multiple parking zones, and can When the vehicle passes through the parking area, the information about the parking area where the vehicle is currently located is displayed on the central control screen and other interactive devices (for example, "You are currently in Area A" or "You have entered Area B").
  • the latest recognized partition information can be determined as the parking partition where the parking location is located, or it can be obtained when the vehicle enters the parking space and it is determined that the vehicle will enter the parking space.
  • the information of the partition where the parking space is located for another example, when the parking space (also called a parking space) where the vehicle is parked is not marked, the parking location of the vehicle can be determined based on the information of the vehicle's parking floor and parking partition.
  • the information displayed by the above interactive device can also be voice broadcast by the vehicle loudspeaker. For the sake of simplicity, no examples will be given here.
  • the information of the area is obtained according to the area where the vehicle is currently located, so as to determine the parking location information of the vehicle, such as parking space information, floor information, partition information, etc. .
  • the parking location information of the vehicle such as parking space information, floor information, partition information, etc.
  • the first area is a parking floor and/or parking area of a parking lot where the vehicle is located
  • the second area may include a parking space for the vehicle
  • the information may include information about the parking space where the vehicle is parked, and information about the parking floor and/or information about the parking zone.
  • the parking location information may include parking space information and parking zone information; when the vehicle is parked in an indoor parking lot, the parking location information may include parking space information and parking zone information.
  • the information may include parking floor information and parking space information.
  • the parking location information may also include parking zone information and parking space information, and so on.
  • obtaining the information of the second area may include: obtaining a first instruction, the first instruction being used to instruct the The user of the vehicle has parking intention; according to the first instruction, the information of the second area is obtained.
  • the first instruction may be one or more of a voice instruction, a touch instruction, a key instruction, a gesture instruction, and other instructions.
  • it can be determined based on the user's voice instructions whether the user has parking intention.
  • the user can conduct voice interaction with the vehicle. During the voice interaction, the user can issue "I want to park”, “automatic parking”, “drive into the parking space”, etc.
  • a vehicle with auxiliary parking function can control the vehicle to drive into the idle target parking space according to the detected free target parking space, and obtain the information of the target parking space (such as the logo, image, etc.) of the target parking space, After the vehicle receives the voice command, it determines that the user has the intention to park, and obtains the information of the second area according to the voice command; for another example, it can also be combined with the user's instructions for the parking space (for example, the user presses physical or virtual buttons The indicated parking space (the parking space indicated by the user through voice command), obtains the information of the target parking space; for another example, the user can use the air gesture to indicate the triggering of the automatic parking function, and after the vehicle receives the air gesture, it determines the parking space. The user has the intention of parking, and obtains the information of the second area according to the air gesture.
  • the information of the second area is obtained according to the user's parking intention, which can reduce the vehicle's cost of obtaining the information of the second area, can also reduce the invalid information in the obtained data, and improve the obtained information. Accuracy of information in the second area.
  • obtaining the information of the second area may include: when detecting that the vehicle enters the parking state, obtaining the second area information. area information.
  • whether the vehicle enters a parking state may be determined based on the vehicle's control signal. For example, when the vehicle is in a parking lot and it is detected that the vehicle's gear is adjusted to reverse gear, the vehicle can be considered to be in a parking state, and information about free target parking spaces around the vehicle can be obtained; for another example, when the vehicle is in a parking lot , when the force on the brake pedal or accelerator pedal is detected and the vehicle speed is controlled within the preset speed (such as 3 kilometers/hour), the vehicle can be considered to have entered the parking state, and the free target parking spaces around the vehicle can be obtained.
  • the preset speed such as 3 kilometers/hour
  • the parking function of the vehicle can also be implemented by the automatic driving system or the advanced assisted driving system.
  • the vehicle After detecting that the vehicle starts automatic parking or assisted parking (or called (automatic parking, auxiliary parking) function, or after detecting user instructions to start the automatic parking or auxiliary parking function, it is considered that the vehicle has entered the parking state, and information about free target parking spaces around the vehicle can be obtained; for another example,
  • the range of the vehicle-mounted sensor can be controlled to collect information about the target parking space.
  • the vehicle-mounted sensor can have an adjustable bracket, and the attitude of the bracket can be adjusted to achieve sensing of the vehicle-mounted sensor. Measurement range adjustment, etc.
  • the above-mentioned vehicle control signal may be a vehicle control signal, such as a controller area network (controller area network, CAN) signal, an Ethernet signal, etc.
  • the vehicle can be located in this second area when it completes parking.
  • the vehicle completes parking due to the limitation of the vehicle attitude, it may affect Regarding the acquisition of the information of the second area, or even the inability to obtain the information of the second area, in the embodiment of the present application, when it is detected that the vehicle enters the parking state, the information of the second area is acquired in advance or starts to avoid the problem due to The influence of the vehicle posture on obtaining the information of the second area can improve the accuracy of the information obtained in the second area.
  • the method may further include: obtaining parking environment information during the process from the vehicle entering the parking state to the vehicle completing parking; obtaining the information of the second area , may include: obtaining the information of the second area according to the parking environment information.
  • the information of the second area may be obtained based on the environmental information collected by the vehicle's sensing sensors. For example, when it is detected that the vehicle is in a parking state, such as when it is detected that the vehicle's gear is adjusted to reverse gear, part or all of the vehicle may be outside the parking space. The proportion of parking spaces in the collected images, the expected driving path of the vehicle, etc.
  • the vehicle's panoramic imaging system collects surrounding environment information. Before the vehicle completes parking, it can be spliced and fused based on the environmental information collected by the panoramic imaging system. For example, the images collected by the panoramic imaging system at multiple moments during the parking process can be spliced and fused.
  • the vehicle in the parking posture will affect the on-board sensor's acquisition of information about the parking space where it is located.
  • the position of the sensing sensor in the vehicle is relatively fixed, obtaining the information of the second area based on the environmental information collected by the sensor at a certain moment will be limited by the posture of the vehicle. Therefore, in the embodiment of the present application, by obtaining The environmental information during the parking process can reduce the impact of the vehicle's posture on obtaining the information of the second area.
  • the method may further include: sending a first prompt message, where the first prompt message may include parking location information of the vehicle.
  • the parking position information can be displayed on an interactive device such as a central control screen of the vehicle.
  • the vehicle's central control screen and other interactive devices can be controlled to display information about the parking location of the vehicle (for example, "Your car is currently located at Area A106 on the basement floor” ,etc). That is to say, when the vehicle chip, vehicle device (such as cockpit domain controller, controller, etc.), vehicle system and other devices implement this method, the vehicle communication device can be enabled, such as the vehicle telematics box (telematics box, T -box), etc., send the first prompt message.
  • the first prompt message is sent to the bound terminal device, or the first prompt message is sent to the terminal of the shared target user, and the parking location information can also be displayed through an interactive device such as a central control screen of the vehicle.
  • a terminal device such as a mobile phone can obtain the first prompt message.
  • a first prompt message can be sent, and terminal devices such as mobile phones associated with the vehicle can communicate via Bluetooth, wireless network (such as cellular network, Wi-Fi, etc.) to obtain the first prompt message, so that the parking location of the vehicle can be learned.
  • wireless network such as cellular network, Wi-Fi, etc.
  • the vehicle parking location can be provided to the user in a timely manner to facilitate subsequent car-finding operations and improve the car-finding experience.
  • sending the first prompt message includes: sending the first prompt message when it is detected that the vehicle has completed parking.
  • the first prompt message can be sent, and accordingly, a terminal device such as a mobile phone can obtain the first prompt message, thereby learning the parking location of the vehicle.
  • the first prompt message is sent, and a message indicating the parking location can be automatically sent, which can save the user's request operation for the parking location and improve the user experience.
  • Terminal devices such as mobile phones can display the parking location information of the vehicle when receiving the first prompt message. They can also display the parking location information of the vehicle when the user opens the application. They can also display the parking location information of the vehicle on a specific interface of the mobile phone (such as the negative side of the mobile phone). The parking location information of the vehicle is displayed on one screen, smart assistant page, etc.). Improve end-user experience.
  • the method may further include: receiving parking location request information, the parking location request information being used to request the parking location of the vehicle; and sending the first prompt message, which may It includes: sending the first prompt message according to the parking location request information.
  • a terminal device such as a mobile phone can send the parking location request information.
  • the vehicle can obtain the parking location request information and can send the first prompt message according to the parking location request information.
  • the terminal device such as a mobile phone can send the parking location request information.
  • the first prompt message can be obtained.
  • the parking location request information can be sent through a terminal device such as a mobile phone to communicate with the vehicle, so that the parking location of the vehicle can be known; for another example, the parking location request information can also be triggered by the server to obtain The parking location information of the current vehicle is stored in the cloud.
  • the parking location information of the vehicle is then sent to the user's mobile phone and other terminal devices.
  • the first prompt message can be sent according to the user's request for the parking location, and the parking location of the vehicle can be indicated according to the user's actual needs, thereby realizing interaction with the user.
  • the parking location request information may carry the requester's identity information
  • sending the first prompt message based on the parking location request information may include: sending the first prompt based on the requester's identity information. information.
  • the parking location request information may include the identity information of the requester, thereby determining the user's permissions.
  • the first prompt message may not be sent; for another example, when the user is an authorized user, for example, when it is determined that the requester is a car owner, the first prompt message may include the parking space information. Images and logos, images and logos of parking zones, images and logos of parking floors. For another example, if the requester is determined to be a temporarily authorized user (for example, the car owner authorizes his friends, service personnel, etc.
  • the first prompt message can Including the logo of the parking space, the image and logo of the parking area, etc., in order to facilitate the requester's car search, for example, it may also include the license plate information of the vehicle, etc., that is to say, according to the identity and authority of the requester, the third sent A prompt message may include different contents, and the content may be preset or may be based on content requested by the requester.
  • the first prompt message is determined based on the user's identity information, which can avoid access by unauthorized users, and determine the parking location information that can be obtained based on the requester's authority and request, which is conducive to protecting the vehicle. safety.
  • the method may further include: obtaining image information of the second area at multiple times; and determining, based on the image information of the second area at multiple times, A plurality of identification information; the obtaining the information of the second area includes: obtaining the identification of the second area according to the plurality of identification information, and the information of the second area includes the identification of the second area.
  • multiple identities are determined based on images at multiple times, which can avoid the default of identity information for images at a single time, and can improve the integrity of the information in the determined area.
  • the plurality of identification information includes at least two first incomplete identifications
  • the first incomplete identification includes a part of the identification of the second area
  • the plurality of identification information according to the plurality of The identification information, obtaining the identification of the second area includes: splicing and fusing multiple first incomplete identifications among the at least two first incomplete identifications, and obtaining the identification of the second area.
  • the identifier of the second region can be determined.
  • the acquired image of the second area depends on the position and attitude of the vehicle.
  • the identification information acquired through the image may only include part of the identification of the second area.
  • the identification of the second area is " A106", at different times, the acquired image may only include part of the logo (such as "A10", "106", etc.), so based on the image of the second area at a certain moment, it may not be possible to obtain the complete second area.
  • the identification of the second area can be obtained by matching, splicing, and merging the incomplete identifications in the images at multiple times; similarly, the identification of the second area can also be determined by splicing and merging the incomplete identifications. Identification of an area.
  • obtaining the identity of the second area based on the plurality of identification information may include: based on the confidence of at least one identification information in the plurality of identification information, Get the identifier of the second area.
  • identification information is obtained according to the image information of the second area, and the identification of the second area can be determined according to the confidence of the identification information.
  • the identification of the second area can be obtained from the plurality of identification information according to the confidence level of the identification information; for another example, the identification information can be determined according to the matching degree between the trajectory of the identification information at the multiple times and the vehicle driving trajectory. Confidence of the identification information; for another example, multiple identification information obtained by splicing and fusing incomplete identifications can also be screened to obtain the identification of the second region according to the confidence of the identification information, and so on.
  • the accuracy of the determined identification of the second area can be improved.
  • the method may further include: when the vehicle enters the first area, obtain a first trigger condition, and the first trigger condition may be used to indicate, obtain the Conditions that the information of the first area needs to satisfy; obtaining the information of the first area may include: obtaining the information of the first area when the first triggering condition is met.
  • the first trigger condition can be obtained, and when the first trigger condition is met, the information of the first area can be obtained.
  • the floor where the vehicle is located can be recorded in real time.
  • the floor where the vehicle is located can be recorded in real time based on the pitch angle of the vehicle. That is to say, for the floor where the vehicle is located,
  • the triggering condition can be to determine that the vehicle is in the area of the parking lot. For example, it can be determined that the vehicle is in the area of the parking lot based on the detected parking lot barrier. For example, it can be determined that the vehicle is in the passage between floors or exits between floors.
  • the identification of the floor is triggered; for another example, the first triggering condition may include detecting that the vehicle is in the parking lot area (for example, determining whether the vehicle is in the parking lot area according to the first status information, or for example, after detecting that the vehicle is in the parking lot area)
  • the parking lot markers such as gates and parking lot pillars are used to determine that the vehicle is in the parking lot area
  • it is detected that the vehicle's gear is adjusted to reverse gear it is detected that the vehicle's driving speed is less than or equal to the preset threshold, it is detected that the user has
  • the voice command of parking intention is detected, the user's instruction for the target parking space is detected, or the vehicle is detected to enter the parking state, the information of the floor where the vehicle is currently located can be obtained, thereby avoiding the interference of redundant information and improving the efficiency of parking.
  • the accuracy of this method for another example, similarly, after the vehicle enters the parking lot, the parking area through which the vehicle passes can be detected in real time.
  • the information of the parking area where the vehicle is currently located can be obtained.
  • the information can also be controlled to turn on the sensing sensor when the above conditions are met, and collect the surrounding environment information, so that the information about the parking area where the vehicle is located at that moment can be determined based on the surrounding environment information.
  • the first trigger condition by obtaining the first trigger condition, resources used to obtain the information of the first area can be saved, interference from redundant information can be reduced, and the accuracy of the determined parking location information can be improved.
  • the method further includes: when determining that the vehicle enters the parking lot, obtaining the surrounding environment information of the vehicle, and the surrounding environment information is used to obtain information of the first area. , and/or the information of the second area.
  • the parking lot marker when a parking lot marker is detected, it may be determined that the vehicle is in a parking lot.
  • the first state parameter can be obtained, and the parking lot marker can be detected based on the first state parameter.
  • the first state parameter can be the distance between the vehicle and the parking lot entrance, the vehicle speed, the signal quality of the global satellite navigation system signal, and other parameters.
  • the first state parameter can also be other parameters besides the distance between the vehicle and the parking lot entrance, the vehicle speed and the signal quality of the global navigation satellite system (GNSS) signal.
  • GNSS global navigation satellite system
  • the surrounding environment information used to determine the marker information is obtained.
  • the integrity of the information in the obtained area can be ensured, and the unreasonable setting of the trigger conditions can be reduced.
  • the resulting deviation in parking location information is also helpful to avoid false triggering of this method outside the parking lot.
  • the method further includes: detecting markers in the first area based on data collected by sensors on the vehicle; obtaining information about the area may include : Obtain the information of the first area based on the marker of the first area.
  • the landmarks of the first area may be parking lot pillars, parking lot inner walls, signs, hanging or posted signs, etc.
  • the parking lot pillars can be detected based on the data collected by cameras and radar sensors.
  • the parking zone identification can be obtained based on the image of the parking lot pillars, and so on.
  • the accuracy of filtering out information such as identification of the first area based on the image information of the parking lot may be low.
  • Marker detection, and obtaining the information of the first area based on the markers can narrow the recognition range of the information of the first area. On the one hand, it can reduce the interference of invalid information, and on the other hand, it can also improve the information of the first area obtained. accuracy.
  • obtaining the information of the first area according to the marker of the first area may include: determining one or more information based on the image information of the marker of the first area. A plurality of marker information; the information of the first region is obtained according to the confidence of at least one of the one or more marker information.
  • the information of the first region can be obtained according to the confidence level of the marker information.
  • the landmark in the first area is a parking lot pillar
  • multiple landmark information may be obtained based on the parking lot pillar, such as "Safety Channel", “Area A”, “ ⁇ ”, “No Smoking” , “basement level”, etc., can be considered as pure text signs ("safe passage”, “no smoking”, etc.), pure symbol signs (" ⁇ ", etc.) has a low confidence level, so that "Area A" can be determined to be the information of the parking area; for another example, the location of the landmark information can be determined based on whether the multiple landmark information includes the regional keyword. Confidence.
  • the logo containing the keyword "area” can be considered to have a higher confidence level.
  • the logo containing the keyword "layer” can be considered to have a higher confidence level. degree, from which the information of parking zones and parking floors can be determined.
  • the information of the first area is obtained through the confidence level of the marker information, which can improve the accuracy of the determined information of the first area.
  • the vehicle may include a vehicle-mounted display device, and the method may further include: when obtaining information of the first area, controlling the vehicle-mounted display device to display the first area. information; and/or, when obtaining the information of the second area, control the vehicle-mounted display device to display the information of the second area.
  • images, logos, etc. of the first area and the second area may be displayed through the vehicle-mounted display device.
  • the information of the first area where the vehicle is located for example, "underground level”
  • the information of the first area for example, "you are currently on the underground level", “you are already on the underground level” can be displayed through the display area.
  • the vehicle-mounted display device can be controlled to display the image of the landmark, for example, based on the image of the parking lot pillar, the When the floor and parking area are marked, the vehicle-mounted display device can be controlled to display the image of the pillar, or the part of the image of the pillar that includes the mark of the floor and parking area can be displayed. It can also be added when displaying the image of the pillar. Highlight the mark to highlight the logo of the floor or parking area on the display interface; for another example, when obtaining the information of the target parking space, the vehicle-mounted display device can be controlled to display the image of the target parking space, and the displayed image includes the target parking space.
  • the parking space can be highlighted in a wireframe or other manner; for another example, when the identification of the target parking space is obtained, the vehicle-mounted display device can be controlled to display the identification of the parking space, for example, the image displaying the parking space includes the identification. For example, when displaying the image of the parking space, the logo of the parking space is prompted by highlighting the mark, etc.
  • the first area includes a parking floor
  • the method further includes: obtaining pitch angle information of the vehicle; obtaining the information of the first area may include: according to The pitch angle information of the vehicle determines the information of the parking floor.
  • the number of inter-floor passages that the vehicle passes through when going uphill or downhill can be determined based on the pitch angle information of the vehicle, thereby determining the floor location where the vehicle is currently located. For example, when the pitch angle of the vehicle is greater than or equal to a preset threshold (such as 13 degrees, 15 degrees, etc.), the vehicle can be considered to be in the uphill stage.
  • the inter-floor passage that the vehicle passes through in the uphill stage can be recorded as + 1. Record the inter-floor passages that the vehicle passes through in the downhill stage as -1, so that the current floor location of the vehicle can be determined based on the number of inter-floor passages that the vehicle passes uphill and downhill.
  • the floor location where the vehicle is currently located can be determined as the parking floor, thereby determining the parking floor information; for another example, based on the pitch angle information of the vehicle, it can be determined whether the vehicle is in the passage between floors, and the surrounding environment information can be obtained , identify the entrances and exits of the inter-floor passages, so that the number of inter-floor passages passed by the vehicle can be obtained more accurately, and the current floor location of the vehicle can be determined.
  • the parking floor is determined based on the pitch angle information of the vehicle. Since the acquisition of the pitch angle information does not depend on the radar sensor or the camera sensor, it can be applied to vehicles with a small number of sensing sensors and can be applied to vehicles with a lower number of sensing sensors. configured vehicles, and can also save resource consumption for radar sensors, camera sensors, etc. in the process of determining the parking location. For smart cars, new energy vehicles, etc., it can reduce the vehicle's power consumption and increase the vehicle's cruising range. .
  • the first area includes a parking floor, and the parking floor is connected to an inter-floor passage of the parking lot.
  • the method may further include: determining that the vehicle passes through the inter-floor passage.
  • obtain the passage guide identification which includes information about the floors connected to the passage between the floors; obtaining the information of the first area may include: obtaining the information of the parking floor according to the passage guide identification.
  • the guidance mark of the passage can be obtained based on the image information of the inter-floor passage, and thus the information of the floor that the vehicle will drive into can be determined based on the passage guidance mark. For example, when a vehicle is detected passing through the passage between floors, the image information of the passage between floors can be obtained.
  • the identification information hung or posted in the passage can be obtained, such as " ⁇ passage underground One layer ⁇ ", “ ⁇ xxx layer ⁇ ”, “ ⁇ XXX layer”, “ ⁇ ”, “ ⁇ ”, etc.
  • the channel guidance identification can be obtained , for example, the confidence level of a logo that only includes symbols can be considered to be low, and the confidence level of a logo that includes the keyword "layer” can be considered to be higher. From this, the channel guidance logo can be obtained, and the floor that the vehicle will drive into can be determined. information, so that when the vehicle exits the inter-floor passage and enters a new floor, the current floor location of the vehicle can be determined, thereby determining the parking floor information.
  • the floor information is obtained in advance based on the passage guidance signs, which can reduce the difficulty of identifying the signs of the parking floors, and can also avoid the parking lot construction.
  • the impact of the structure on the parking floor can improve the accuracy of the determined parking floor.
  • a device for parking interaction may include: an acquisition module, configured to acquire the information of the first area when the vehicle enters the first area; and acquire the information of the first area when the vehicle enters the second area.
  • the information of the second area is located in the first area; the processing module is used to determine the parking location information of the vehicle based on the information of the first area and the information of the second area.
  • the first area may be a parking floor and/or parking area of a parking lot; the second area may include parking spaces for vehicle parking; and the parking location information includes the Information about the parking space where the vehicle is parked, and information about the parking floor and/or information about the parking zone.
  • the acquisition module may be specifically configured to: acquire a first instruction, which is used to indicate that the user of the vehicle has parking intention; according to the first instruction , to obtain the information of the second area.
  • the acquisition module may be specifically configured to: acquire information of the second area when it is detected that the vehicle enters the parking state.
  • the acquisition module can also be used to: acquire parking environment information from when the vehicle enters the parking state to when the vehicle completes parking; the acquisition module, specifically It can be used to: obtain the information of the second area based on the parking environment information.
  • the device may further include: a sending module that may be configured to send a first prompt message, where the first prompt message includes the parking location information of the vehicle.
  • the sending module may be specifically configured to: send the first prompt message when it is detected that the vehicle has completed parking.
  • the device may further include: a receiving module that may be used to receive parking location request information, and the parking location request information may be used to request parking location information of the vehicle;
  • the sending module may be specifically configured to: send the first prompt message according to the parking location request information.
  • the parking location request information carries the requester's identity information
  • the sending module can be specifically used to: send the first prompt message according to the requester's identity information.
  • the acquisition module can also be used to: acquire image information of the second area at multiple times; the processing module can also be used to: according to the second aspect The image information of the multiple moments in the two areas determines a plurality of identification information; the acquisition module can be specifically used to: obtain an identification of the second area based on the plurality of identification information, and the information of the second area includes the third area. Second area identification.
  • the plurality of identification information may include at least two first incomplete identifications, the first incomplete identification including part of the identification of the second area, the acquisition module, Specifically, it can be used to splice and fuse multiple first incomplete identifiers among the at least two first incomplete identifiers to obtain the identifier of the second region.
  • the acquisition module may be specifically configured to: obtain the identity of the second area based on the confidence of at least one of the plurality of identity information.
  • the acquisition module can also be used to: acquire a first trigger condition when the vehicle enters the first area, and the first trigger condition is used to indicate, Conditions that need to be met to obtain the information of the first area; the acquisition module can be specifically used to: obtain the information of the first area when the first trigger condition is met.
  • the acquisition module can also be used to: when determining that the vehicle enters the parking lot, acquire the surrounding environment information of the vehicle, and the surrounding environment information is used to obtain the third aspect. information in one area, and/or information in the second area.
  • the processing module can also be used to: detect markers in the first area based on data collected by sensors on the vehicle; the acquisition module can specifically be used to : Obtain the information of the first area based on the marker of the first area.
  • the acquisition module may be configured to determine one or more marker information according to the image information of the marker in the first area; according to the one or more At least one of the marker information in the marker information Confidence, obtain the information of the first area.
  • the vehicle may include a vehicle-mounted display device
  • the processing module may also be used to: when acquiring information of the first area, control the vehicle-mounted display device to display the information in the first area; and/or, when acquiring information in the second area, control the vehicle-mounted display device to display information in the second area.
  • the first area includes a parking floor
  • the acquisition module can also be used to: acquire pitch angle information of the vehicle; specifically, the acquisition module can be used to, according to the The pitch angle information of the vehicle determines the parking floor information.
  • the first area may include a parking floor, which may be connected to an inter-floor passage of the parking lot, and the acquisition module may also be used to: determine the vehicle When in the inter-floor passage, obtain the passage guide identification, which includes the information of the floors connected to the inter-floor passage; the acquisition module can be used to obtain the information of the parking floor according to the passage guide identification.
  • a method for identifying a parking area includes obtaining surrounding environment data.
  • the surrounding environment data is used to detect a marker in the parking area; when the marker is detected, an image of the marker is obtained. ; Determine the parking area based on the image of the landmark.
  • the parking area may refer to parking areas such as "Area A”, “A-17", “W-2-6", etc.
  • the markers of the parking area may include objects that do not move in the parking area.
  • the marker can be an interior wall of a parking lot, a parking lot column, a sign, etc. It should be understood that the above description of markers in the parking area is only an example, and the embodiments of the present application do not limit this.
  • the parking area when a landmark in the parking area is detected, the parking area is determined by obtaining an image of the landmark in the parking area, which can reduce the impact of irrelevant information on identifying the parking area, thereby improving the accuracy of determining the parking area. It can also save the cost in the process of identifying the parking area. It can also identify the parking area through markers when the sign of the parking area cannot be recognized, which helps users to identify the parking area without using terminal devices such as mobile phones. When taking photos of an area, the parking area where the vehicle is located is known, making it easier for the user to find the vehicle.
  • the parking area includes a first parking space, and the first parking space is a parking space where the vehicle is in the parking position.
  • the method further includes: obtaining an image of the first parking space.
  • the first parking space image includes a first parking space, and the first parking space is in an idle state; according to the first parking space image, the identification of the first parking space is determined, and the identification of the first parking space includes a regional keyword; according to the identification Determining the parking area based on the image of the landmark includes: determining the parking area based on the image of the landmark and the keyword of the area.
  • the first parking space image may include part or all of the first parking space. Before the vehicle is in the parking position, the vehicle may not be in the first parking space. At this time, the first parking space may be the parking space the vehicle is expected to drive into, or the parking space it will drive into subsequently. Therefore, the first parking space It can also be called a target parking space.
  • the first parking space image may include 3 parking spaces, including the entire area of 1 parking space and part of 2 parking spaces, and the 3 parking spaces include the target parking space; for another example, it may include 1 parking space. Part of the area, and the parking space is the target parking space. It should be understood that the above description of the first parking space image is only an example, and the embodiments of the present application do not limit this.
  • the area keyword may be a keyword included in both the parking space identification and the parking area identification. For example, if the vehicle is located in parking area A, and the first parking space is identified as A104, the area keyword can be considered as A; for another example, the first parking space is identified as W104, and the adjacent parking space is identified as W103. Since the two identifications include the same
  • W can be used as a regional keyword. It should be understood that the above description of regional keywords is only an example, and the embodiments of the present application do not limit this.
  • the accuracy of identifying the identification of the parking area can be improved based on the regional keyword and the image of the landmark of the parking area, so that the identification of the parking area can be improved. Improve the accuracy of identifying parking areas.
  • the method further includes: obtaining parking space indication information, the parking space indication information being used to indicate the area where the first parking space is located; determining the first parking space image based on the first parking space image.
  • the identification of the first parking space includes: determining the identification of the first parking space based on the parking space indication information and the first parking space image.
  • the first parking space can be determined based on the parking space indication information.
  • the user when using the parking assistance function, the user can interact with the vehicle to indicate the parking space the vehicle will drive into, thereby obtaining the parking space indication information; for example, when using functions such as automatic parking, the user can use the parking function to determine the parking space.
  • the recognition result of the first parking space determines the first parking space. It should be understood that the above parking space instructions The description of information is only an example, and the embodiments of the present application do not limit this.
  • the accuracy of the determined first parking space can be improved, thereby improving the accuracy of the identification of the determined first parking space, thus improving the accuracy of identifying the parking area.
  • the parking space indication information can indicate the area where the first parking space is located, the cost in the process of determining the first parking space identification can be saved.
  • the method further includes: determining a first ratio based on the first parking space image, the first ratio being used to indicate that the first parking space is in the first parking space image.
  • the proportion of the first parking space image; determining the identity of the first parking space based on the first parking space image includes: determining the identity of the first parking space based on the first parking space image and the first proportion.
  • the first parking space image includes at least one parking space
  • the portion of the first parking space in the image can be determined, thereby improving the first parking space. the accuracy of the identification.
  • determining the identity of the first parking space based on the first parking space image includes: determining one or more parking space information texts based on the first parking space image; The identification of the first parking space is determined based on the confidence level of at least one parking space information text among the one or more parking space information texts.
  • one or more texts may be determined based on the first parking space image.
  • the text may also be called parking space information text.
  • the accuracy of the determined identification of the first parking space can be improved, and further, the accuracy of identifying the parking area can be improved.
  • the vehicle includes a vehicle-mounted display device
  • the method further includes: controlling the vehicle-mounted display device to display the image of the first parking space.
  • the vehicle-mounted display device is controlled to display the image of the first parking space.
  • the first parking space may be highlighted in a wireframe or other manner; for another example, the image of the first parking space may include a partial area of the first parking space, such as the area where the logo of the first parking space is located. It should be understood that the above method of displaying the image of the first parking space is only an example for ease of explanation, and is not limited in this embodiment of the present application.
  • the user by displaying the image of the first parking space on the vehicle-mounted display device, the user can be prompted for the first parking space, which helps the user to verify the identification result of the first parking space.
  • the method further includes: after determining the identity of the first parking space, sending a first message, the first message being used to indicate the first parking space.
  • the vehicle can send the first message, and accordingly, a terminal device such as a mobile phone can receive the first message, so that the first parking space can be learned.
  • a terminal device such as a mobile phone
  • the user by sending the first message, the user can learn the parking area where the vehicle is located without using a terminal device such as a mobile phone to take a picture of the parking space, which can improve the user experience.
  • a terminal device such as a mobile phone
  • determining the parking area based on the image of the landmark includes: determining one or more landmark information based on the image of the landmark; or multiple landmark information to determine the parking area identification, and the area indicated by the parking area identification is the parking area.
  • one or more texts can be obtained based on the image of the marker.
  • the text can also be called marker information, or marker information text.
  • the accuracy of the parking area can be identified.
  • the method further includes: controlling the vehicle-mounted display device to display the parking area identification.
  • the parking area identification can be displayed in the form of text, or it can be a part of the parking area identification in the image showing the parking area landmarks, or it can also be the image showing the parking area landmarks, in a wire frame, etc.
  • the method highlights the identification of the parking area. It should be understood that the embodiment of the present application does not limit this.
  • the user by displaying the parking area identification on the vehicle-mounted display device, the user can be reminded of the parking area, which helps the user verify the identification result of the parking area.
  • the method further includes: after determining the parking area, sending a second message, the second message being used to indicate the parking area.
  • the vehicle can send the second message, and accordingly, a terminal device such as a mobile phone can receive the second message, thereby knowing The parking area where the vehicle is located.
  • a terminal device such as a mobile phone
  • the user by sending the second message, the user can learn the parking area where the vehicle is located without using a terminal device such as a mobile phone to take pictures of the parking area, which can improve the user experience.
  • a terminal device such as a mobile phone
  • the method before obtaining the surrounding environment data, further includes: obtaining a voice instruction or user operation information; detecting a parking voice instruction according to the voice instruction, and the parking voice instruction is Used to indicate that the user has parking intention; when the parking voice command is detected, the first sensor is activated; or, based on the user operation information, the first operation is detected, and the first operation is used to indicate that the user has parking intention; when the parking voice command is detected, During the first operation, the first sensor is started; the first sensor is controlled to collect the surrounding environment data.
  • the parking voice instruction may indicate the user's intention to park.
  • the user's commands such as “I want to park”, “Automatic parking”, “Drive into the parking space”, etc. can be recognized.
  • the first operation may indicate that the user has parking intention.
  • the vehicle is in a parking lot and it is detected that the gear position is adjusted to reverse gear, it can be considered that the user has the intention to park; another example is when the user controls the vehicle speed at a preset speed (such as 3 kilometers) through the brake pedal or accelerator pedal. /hour), it can be considered that the user has parking intention.
  • a preset speed such as 3 kilometers
  • the senor when it is determined that the user has parking intention, the sensor is controlled to collect the surrounding environment data used to detect the markers in the parking area. This can reduce the cost of the vehicle in identifying the parking area signs, and can also reduce the amount of data obtained. Invalid information in the data to improve the accuracy of identifying parking area signs.
  • the method before acquiring the surrounding environment data, further includes: when it is determined that the vehicle is located in the parking lot area, starting the first sensor; controlling the first sensor to collect The surrounding environment data.
  • the first sensor may include one or more sensors of the same or different types. For example, after it is determined that the vehicle is located in the parking lot area, the data collected by one or more cameras, and/or the data collected by one or more radars, and the surrounding environment data collected by the one or more sensors can be obtained. Marker detection in parking areas. It should be understood that the embodiments of the present application do not limit this.
  • the senor when it is determined that the vehicle is located in the parking area, the sensor is controlled to collect the surrounding environment data used to detect the markers in the parking area. In this way, the function of identifying the parking area can be automatically triggered, which can improve the user's use. Experience is also conducive to adapting to application methods in autonomous driving scenarios.
  • the method further includes: obtaining a first state parameter, the first state parameter including the distance between the vehicle and the parking lot entrance, the vehicle speed and the global satellite navigation system GNSS. At least one of the signal quality of the signal; when the first state parameter is less than or equal to the first threshold, the parking lot marker is detected; when the parking lot marker is detected, it is determined that the vehicle is located in the parking lot area.
  • the first state parameter may be a combination of parameters such as the distance between the vehicle and the parking lot entrance, the vehicle speed, and the signal quality of the GNSS signal.
  • the first state parameter may also be the distance between the vehicle and the parking lot entrance, the vehicle speed, and the signal quality of the GNSS signal. Parameters other than parameters such as signal quality of the GNSS signal.
  • the first threshold may be related to parameters included in the first status parameter.
  • the first state parameter may also be latitude and longitude information. The area where the parking lot is located can be known based on the map. Based on the latitude and longitude of where the vehicle is located, it can be determined whether the vehicle is located around the parking lot, etc.
  • the first state parameter when the first state parameter is less than or equal to the first threshold, environmental data is obtained for parking lot marker detection, thereby reducing the need for sensors to collect environmental data in the process of determining whether the vehicle is located in the parking area.
  • the dependence can reduce the working time of the sensor, thereby reducing the power consumption of the sensor, and also helps to start the corresponding functional module after determining that the vehicle is located in the parking area.
  • the marker of the parking area is a pillar.
  • the distribution of the pillars is more regular and the distribution density is higher.
  • the parking area can be determined based on the pillars. Improve the accuracy of identifying parking areas.
  • a device for identifying a parking area includes at least two parking spaces.
  • the device includes an acquisition module that can be used to acquire surrounding environment data.
  • the surrounding environment data can be used to identify markers in the parking area. Detection; when the marker is detected, an image of the marker is obtained; the processing module can be used to determine the parking area based on the image of the marker.
  • the parking area includes a first parking space, and the first parking space is a parking space where the vehicle is in the parking position.
  • the acquisition module can also be used to obtain the third parking space.
  • a parking space image, the first parking space image includes the first parking space;
  • the processing module can also be used to determine the identification of the first parking space according to the image of the first parking space, and the identification of the first parking space includes a regional keyword;
  • the processing module can be specifically used to determine the identification of the first parking space according to the image of the landmark and the Area keyword to determine the parking area.
  • the acquisition module may also be used to: obtain parking space indication information, and the parking space indication information may be used to indicate the area where the first parking space is located; the processing module may be specifically used to: Based on the parking space indication information and the first parking space image, the identification of the first parking space is determined.
  • the processing module may also be configured to determine a first ratio based on the first parking space image, and the first ratio may be used to indicate that the first parking space is in the first parking space.
  • the processing module may be used to determine the identity of the first parking space based on the first parking space image and the first proportion.
  • the processing module may be configured to determine one or more parking space information texts based on the first parking space image; based on at least one of the one or more parking space information The confidence level of the parking space information text determines the identity of the first parking space.
  • the vehicle includes a vehicle-mounted display device and a processing module, which may also be used to control the vehicle-mounted display device to display an image of the first parking space.
  • the device further includes a sending module.
  • the sending module can be used to send a first message after determining the identification of the first parking space.
  • the first message can be used Indicate the first parking space.
  • the processing module is specifically configured to: determine one or more landmark information based on the image of the landmark; determine parking based on the one or more landmark information.
  • Area identification the area indicated by the parking area identification is the parking area.
  • the processing module may also be used to control the vehicle-mounted display device to display the parking area identification.
  • the sending module may also be configured to send a second message after determining the parking area, and the second message may be used to indicate the parking area.
  • the acquisition module before obtaining the surrounding environment data, can also be used to obtain voice instructions or user operation information; the processing module can also be used to: according to the voice instructions, Detect the parking voice command, which can be used to indicate the user's intention to park, and activate the first sensor when the parking voice command is detected; or, based on the user operation information, detect the first operation, which can be used to Indicate the user's intention to park, activate the first sensor when detecting the first operation information, and control the first sensor to collect surrounding environment data.
  • the processing module before acquiring the surrounding environment data, can also be used to: start the first sensor when it is determined that the vehicle is located in the parking lot area; control the first sensor to collect Surrounding environment data.
  • the acquisition module may also be used to obtain the first state parameter; the processing module may be used to perform the processing when the first state parameter is less than or equal to the first threshold. Parking lot marker detection; when a parking lot marker is detected, it can be determined that the vehicle is located in the parking lot area.
  • the marker of the parking area is a pillar.
  • a method for determining that a vehicle is located in a parking lot area includes: obtaining a first state parameter; when the first state parameter is less than or equal to a first threshold, detecting a parking lot marker; When arriving at the parking lot sign, make sure your vehicle is in the parking lot area.
  • the first state parameter may include at least one of the distance between the vehicle and the parking lot entrance, the vehicle speed, and the signal quality of the GNSS signal.
  • the parking lot marker may be an object that does not move in the parking lot.
  • parking lot gates parking lot toll booths, parking spaces, parking lot guidance signs, parking lot instructions, etc.
  • the parking lot marker when the first state parameter is less than or equal to the first threshold, the parking lot marker is detected, and thereby it is determined whether the vehicle is located in the parking area, which can reduce the reliance on sensors to collect environmental data and reduce the number of sensors. working time, thereby reducing the power consumption of the sensor.
  • fuel consumption can be reduced to a certain extent, while for electric vehicles, etc., the vehicle's cruising range can be increased to a certain extent.
  • a sixth aspect provides a method for activating a sensor.
  • the method may include: obtaining a voice instruction or user operation information; detecting a parking voice instruction based on the voice instruction; and activating one or more sensors when a parking voice instruction is detected.
  • sensor or based on User operation information, detecting the first operation, and activating one or more sensors when the first operation is detected.
  • the one or more sensors may be one or more types of sensors, which are not limited in the embodiments of the present application.
  • the data collected by the one or more sensors can be used for functions related to parking scenarios. For example, after detecting that the user clicks the "auxiliary parking" virtual button on the central control screen, one or more cameras of the vehicle, such as the camera of the panoramic imaging system, can be started. By controlling the camera to collect data, environmental data can be obtained.
  • the radar can be activated to control the vehicle to enter the first parking space based on the data collected by the multiple sensors.
  • parking-related functions may involve the use of certain sensors
  • the sensor by activating the sensor when it is determined that the user has parking intention, the sensor can be triggered only during the parking process, thereby reducing the cost of the sensor, and It can avoid interference with the function caused by data collected by the sensor in non-parking areas.
  • a method for identifying the identity of a parking space may include: acquiring an image of a first parking space; and determining an identity of the first parking space based on the image of the first parking space.
  • the first parking space image may include at least one parking space including the first parking space.
  • images of parking spaces at multiple times may be acquired, and the images at multiple times may include the first parking space.
  • video images collected by the camera sensor within a first duration may be acquired, and the video may include parking spaces at multiple times. images, thereby avoiding recognition errors caused by incomplete logos in a single image and improving the accuracy of recognized logos. It should be understood that the above description of the first parking space image is only an example for ease of explanation, and is not limited in this embodiment of the present application.
  • the method further includes: obtaining parking space indication information, which can be used to indicate the area where the first parking space is located; according to the parking space indication information and the first parking space image , determine the identity of the first parking space.
  • the method further includes: determining a first ratio according to the first parking space image, the first ratio may be used to indicate the occupancy of the first parking space in the first parking space image.
  • Ratio; determining the identity of the first parking space based on the first parking space image includes: determining the identity of the first parking space based on the first parking space image and the first ratio.
  • determining the identity of the first parking space based on the first parking space image includes: determining one or more parking space information texts based on the first parking space image; The identification of the first parking space is determined based on the confidence level of at least one parking space information text among the one or more parking space information texts.
  • the vehicle includes a vehicle-mounted display device, and the method further includes: controlling the vehicle-mounted display device to display the image of the first parking space.
  • the method further includes: after determining the identity of the first parking space, sending a first message, the first message being used to indicate the first parking space.
  • the identity of the first parking space can be determined based on the image of the first parking space, which helps the user to know the identity of the parking space without using a terminal device such as a mobile phone to take a picture of the parking space, so that the user can pass This information knows the location of the vehicle, making it easier for the user to find the vehicle.
  • An eighth aspect provides an interactive method for indicating a parking location.
  • the method may include: obtaining vehicle location information, which may be used to indicate the first parking space and/or parking area; displaying a first interface, the first The interface may be used to indicate parking areas and/or first parking spaces.
  • the vehicle location information may be used to indicate the first parking space and/or parking area.
  • a terminal device such as a mobile phone can obtain a first message for indicating the first parking space; a second message for indicating the parking area; and the obtained vehicle location information can also be used for indicating the first parking space and for indicating the first parking space.
  • Indicate the parking area that is to say, the first message and the second message can be the same message; it can also be to obtain an image of the surrounding environment of the vehicle. By presenting the image of the surrounding environment, the user can know the area where the vehicle is located. It should be understood that the above ways of indicating the first parking space and/or parking area are only examples for ease of explanation, and are not limited in this embodiment of the present application.
  • the terminal device after obtaining the vehicle location information, displays content related to the first parking space and/or parking area on the first interface, so that the user can know the first parking space and/or parking area, and facilitate the user to find the car. , which can improve the user experience.
  • a ninth aspect provides a device for determining that a vehicle is located in a parking lot area.
  • the device may include: an acquisition module for acquiring a first state parameter; and a processing module for determining when the first state parameter is less than or equal to a first threshold.
  • a parking lot marker When a parking lot marker is detected, it is also used to determine that the vehicle is in the parking lot area when a parking lot marker is detected.
  • the acquisition module can also be used to acquire data collected by sensing sensors, which can be used for parking lot markers. detection.
  • the first state parameter may include at least one of the distance between the vehicle and the parking lot entrance, the vehicle speed, and the signal quality of the GNSS signal.
  • a device for activating a sensor may include: an acquisition module for acquiring voice instructions or user operation information; and a processing module for: detecting a parking voice instruction based on the voice instruction.
  • a parking voice instruction based on the voice instruction.
  • voice commands are given, one or more perception sensors are activated, or the first operation is detected based on user operation information.
  • the first operation is used to indicate the user's intention to park.
  • one or more perception sensors are activated.
  • the acquisition module can also be used to obtain data collected by the one or more perception sensors; the processing module can also be used to obtain data collected by the perception sensor according to Data to determine the parking environment in which the vehicle is located.
  • the identity of the first parking space and/or the parking area where the vehicle is located can be determined.
  • a device for identifying a parking space may include: an acquisition module that may be used to obtain a first parking space image; and a processing module that may be used to determine the first parking space image based on the first parking space image. Parking space identification.
  • the acquisition module can also be used to: obtain parking space indication information, and the parking space indication information can be used to indicate the area where the first parking space is located; the processing module can specifically use In: Determine the identity of the first parking space based on the parking space indication information and the first parking space image.
  • the processing module may also be configured to: determine a first ratio based on the first parking space image, and the first ratio may be used to indicate where the first parking space is.
  • the processing module 3120 may be configured to determine the identity of the first parking space according to the first parking space image and the first proportion.
  • the processing module may be specifically configured to determine one or more parking space information texts based on the first parking space image; and determine the parking space information text based on the confidence level of the parking space information text. The identification of the first parking space.
  • the vehicle may include a vehicle-mounted display device, and the processing module may also be used to control the vehicle-mounted display device to display the image of the first parking space.
  • the device may further include a sending module.
  • the sending module may be used to send a first message, and the first message may be used to indicate the first parking space.
  • the second, fourth, ninth to eleventh aspects, and the device in any possible implementation of any aspect thereof may be a vehicle-mounted chip, a vehicle-mounted device (such as a vehicle machine, car computer) or car.
  • a vehicle-mounted device such as a vehicle machine, car computer
  • the car in the embodiment of the present application can be understood as a vehicle, and the solution proposed in the embodiment of the present application can also be applied to other vehicles or devices.
  • an interactive device for indicating a parking location may include: an acquisition module that may be used to acquire vehicle location information; the display module may be used to display a first interface, and the first interface may be used Indicate parking areas and/or parking areas.
  • the interactive device may be a computer, a smartphone, a tablet, a personal digital assistant (personal digital assistant, PDA), a wearable device, a smart speaker, a television one or more of the other devices.
  • PDA personal digital assistant
  • a device in a thirteenth aspect, may include a processor and a memory.
  • the memory is used to store program instructions.
  • the processor is used to call the program instructions to execute the above-mentioned first aspect, third aspect, and fifth aspect. to any aspect in the eighth aspect, and the method in any possible implementation manner thereof.
  • a computer-readable medium stores a program code for device execution.
  • the program code includes a program code for executing the above-mentioned first aspect, third aspect, fifth aspect to eighth aspect. Any of the aspects, and the methods of any of its possible implementations.
  • a computer program product containing instructions is provided.
  • the computer program product When the computer program product is run on a computer, it causes the computer to execute any one of the above-mentioned first aspect, third aspect, fifth aspect to eighth aspect. aspects, and methods in any possible implementation.
  • a sixteenth aspect provides a vehicle, which includes any one of the above-mentioned second aspect, fourth aspect, ninth to eleventh aspect, and thirteenth aspect, and any possible implementation method thereof. device in.
  • a seventeenth aspect provides a system, which includes a vehicle and electronic equipment.
  • the vehicle may include any one of the above second, fourth, ninth to eleventh, and thirteenth aspects, and its device in any possible implementation, the vehicle
  • the electronic device is used to send a first prompt message, where the first prompt message includes parking position information, and the electronic device is used to receive the first prompt message; and control and display the parking position of the vehicle according to the first prompt message.
  • the electronic device can also be used to: send parking location request information, and the parking location request information is used to request the parking location information; the vehicle can also Used for: receiving the parking location request information; the vehicle can be specifically used to send the first prompt message according to the parking location request information.
  • the embodiment of the present application provides a parking interaction method.
  • the information of the area is obtained according to the area where the vehicle is currently located, so as to determine the parking location information of the vehicle, such as parking space information. , floor information, partition information, etc.
  • the parking location information of the vehicle such as parking space information. , floor information, partition information, etc.
  • the information of the second area can reduce the cost of the vehicle to obtain the information of the second area, and can also reduce the invalid information in the obtained data and improve the information of the second area obtained. accuracy.
  • the information of the second area can be obtained in advance or started, which can avoid the influence of the vehicle posture on obtaining the information of the second area, and can improve the accuracy of the information of the second area obtained. accuracy.
  • the vehicle parking location can be provided to the user in a timely manner to facilitate subsequent car-finding operations and improve the car-finding experience.
  • the vehicle can automatically send a message indicating the parking location, which can save the user's request operation for the parking location and improve the user experience. It can indicate the parking position of the vehicle based on the user's request for the parking position, thereby realizing interaction with the user.
  • the parking location of the vehicle can be sent based on the identity information of the requester, which can avoid access by unauthorized users.
  • the parking location information that can be obtained can be determined based on the requester's permissions and requests, which is conducive to ensuring the safety of the vehicle.
  • the information of the area can be determined based on the images of the area at multiple times, which can avoid the default of area information caused by the image at a single time, and can improve the integrity of the information of the determined area. Being able to splice and fuse incomplete marks can avoid misjudgment of regional information caused by incomplete marks and improve the integrity of regional information.
  • the information of the first area can be obtained based on the markers of the first area, and the recognition range of the information of the first area can be narrowed. On the one hand, it can reduce the interference of invalid information, and on the other hand, it can also improve the information of the first area obtained. accuracy.
  • the information of the first area can be obtained according to the confidence level of the marker information, which can improve the accuracy of the determined information of the first area.
  • the vehicle-mounted display device can be controlled to display the information of the first area and/or the information of the second area, so as to provide the user with the location of the vehicle in a timely manner and help the user to confirm the location of the vehicle in a timely manner. It can determine the parking floor where the vehicle is located in the parking lot based on the pitch angle information of the vehicle, which can save the resource consumption of sensors such as radars and cameras in the process of determining the parking location. Being able to determine parking floor information through channel guidance signs can reduce the difficulty of identifying parking floor signs, avoid the impact of parking lot building structures on identifying parking floors, and improve the accuracy of the determined parking floor.
  • Figure 1 is a schematic functional block diagram of a vehicle provided by an embodiment of the present application.
  • Figure 2 is a schematic diagram of a vehicle sensor and its arrangement location provided by an embodiment of the present application.
  • Figure 3 is a schematic diagram of a scene in which a vehicle enters a parking lot according to an embodiment of the present application.
  • FIG. 4 is a schematic diagram of a vehicle parking scene provided by an embodiment of the present application.
  • FIG. 5 is a schematic diagram of a vehicle parking scene provided by an embodiment of the present application.
  • FIG. 6 is a schematic diagram of an image of a parking space identification provided by an embodiment of the present application.
  • FIG. 7 is a schematic diagram of the positional relationship between a parking space and parking space signs provided by an embodiment of the present application.
  • FIG. 8 is a schematic diagram of another vehicle parking scenario provided by an embodiment of the present application.
  • Figure 9 is a schematic diagram of a column provided by an embodiment of the present application.
  • Figure 10 is an exemplary flow chart of a method for determining that a vehicle is located in a parking area provided by an embodiment of the present application.
  • Figure 11 is an exemplary flow chart of a method for activating a sensor provided by an embodiment of the present application.
  • Figure 12 is an exemplary flow chart of a method for identifying a parking space identification provided by an embodiment of the present application.
  • Figure 13 is a schematic diagram of an image of a parking space provided by an embodiment of the present application.
  • Figure 14 is a schematic diagram of an interactive interface provided by an embodiment of the present application.
  • Figure 15 is a method for identifying a parking area provided by an embodiment of the present application.
  • Figure 16 is a schematic diagram of another interactive interface provided by an embodiment of the present application.
  • Figure 17 is an exemplary flowchart of an interactive method for indicating a parking location provided by an embodiment of the present application.
  • Figure 18 is a schematic diagram of an interactive interface provided by an embodiment of the present application.
  • Figure 19 shows a set of graphical user interfaces provided by embodiments of the present application.
  • Figure 20 shows another set of graphical user interfaces provided by the embodiment of the present application.
  • Figure 21 may be an exemplary flow chart for identifying a parking area provided by an embodiment of the present application.
  • Figure 22 is a method for identifying a parking area provided by an embodiment of the present application.
  • Figure 23 is a schematic flow chart of a method for identifying a parking space identification provided by an embodiment of the present application.
  • Figure 24 is a schematic flow chart of a method for identifying a parking area provided by an embodiment of the present application.
  • Figure 25 is a schematic flow chart of a method for identifying a parking space identification provided by an embodiment of the present application.
  • Figure 26 is a schematic flow chart of a method for identifying parking space signs and parking areas provided by an embodiment of the present application.
  • Figure 27 is a schematic flow chart of a method for identifying a parking space identification provided by an embodiment of the present application.
  • Figure 28 is a schematic diagram of a method for identifying a parking area provided by an embodiment of the present application.
  • Figure 29 is a schematic flow chart of an interactive method for intelligent car search provided by an embodiment of the present application.
  • Figure 30 is a schematic flow chart of a method for identifying a parking area provided by an embodiment of the present application.
  • Figure 31 is a schematic flow chart of a parking interaction method provided by an embodiment of the present application.
  • Figure 32 is a schematic structural diagram of a device for determining that a vehicle is located in a parking lot area provided by an embodiment of the present application.
  • Figure 33 is a schematic structural diagram of a device for activating a sensor provided by an embodiment of the present application.
  • Figure 34 is a schematic structural diagram of a device for identifying parking space signs provided by an embodiment of the present application.
  • Figure 35 is a schematic structural diagram of a device for identifying a parking area provided by an embodiment of the present application.
  • Figure 36 is a schematic structural diagram of an interactive device for indicating a parking position provided by an embodiment of the present application.
  • Figure 37 is a schematic structural diagram of another device for identifying a parking area provided by an embodiment of the present application.
  • Figure 38 is a schematic structural diagram of a parking interaction device provided by an embodiment of the present application.
  • Figure 39 is a structural example diagram of a device provided by an embodiment of the present application.
  • Figure 40 is a schematic diagram of a system provided by an embodiment of the present application.
  • FIG. 1 is a functional block diagram of a vehicle 100 provided by an embodiment of the present application.
  • the vehicle 100 may include a perception system 120 , a display device 130 , and a computing platform 150 , where the perception system 120 may include several types of sensors that sense information about the environment surrounding the vehicle 100 .
  • the sensing system 120 may include a positioning system, which may be a global satellite navigation system, such as GPS, Beidou system or other positioning systems, an inertial measurement unit (IMU), lidar, millimeter wave radar, ultrasonic radar, and One or more types of camera devices.
  • GPS global satellite navigation system
  • Beidou system Beidou system
  • IMU inertial measurement unit
  • lidar millimeter wave radar
  • ultrasonic radar ultrasonic radar
  • the computing platform 150 may include processors 151 to 15n (n is a positive integer).
  • the processor is a circuit with signal processing capabilities.
  • the processor may be a circuit with instruction reading and execution capabilities.
  • CPU central processing unit
  • microprocessor graphics processing unit
  • GPU graphics processing unit
  • DSP digital signal processor
  • the processor can realize certain functions through the logical relationship of the hardware circuit. The logical relationship of the hardware circuit is fixed or can be reconstructed.
  • the processor is an application-specific integrated circuit (application-specific integrated circuit). ASIC) or programmable logic device (PLD) implemented hardware circuit, such as FPGA.
  • ASIC application-specific integrated circuit
  • PLD programmable logic device
  • the process of the processor loading the configuration file and realizing the hardware circuit configuration can be understood as the process of the processor loading instructions to realize the functions of some or all of the above units.
  • it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), tensor processing unit (TPU), deep learning processing Unit (deep learning processing unit, DPU), etc.
  • the computing platform 150 may also include a memory, which is used to store instructions. Some or all of the processors 151 to 15n may call instructions in the memory and execute the instructions to implement corresponding functions.
  • FIG. 2 is a schematic diagram of a vehicle sensor and its arrangement location provided by an embodiment of the present application.
  • the vehicle may include multiple sensors, such as radar sensors, camera sensors, etc.
  • the radar sensor can be lidar, millimeter wave radar, ultrasonic radar and other types of radar
  • the camera sensor can be a front-view camera, a rear-view camera, a side camera, a fish-eye camera, etc.
  • Figure 2 shows some common sensor types and installation locations, but the embodiment of the present application does not limit the type, quantity, and location of vehicle sensors.
  • Lidar light detection and ranging, Lidar
  • lidar can achieve long-distance and high-precision ranging functions.
  • LiDAR can extend the ranging results of a single point to two dimensions through scanning or multi-element array detection to form a distance image, so that LiDAR can be used to identify the accurate position and shape of objects.
  • the vehicle may include three lidars oriented forward, left, and right respectively.
  • Millimeter wave radar refers to radar that uses millimeter waves for detection. Compared with optical beams such as infrared and laser, millimeter waves have a strong ability to penetrate fog, smoke, and dust, so millimeter wave radar has all-weather characteristics. Moreover, short wavelengths make it easy to obtain detailed features and clear contour imaging of targets, which can be used for target classification and identification. Millimeter wave radar can be used to identify the distance and speed of objects.
  • the vehicle may include 6 millimeter wave radars, including 1 forward, 1 rearward, and 4 sideways.
  • Ultrasonic radar refers to radar that uses ultrasonic waves for detection. In short-distance measurements, ultrasonic ranging sensors have great advantages.
  • a vehicle may include multiple ultrasonic radars.
  • the vehicle may be equipped with one or more types of cameras, such as telephoto cameras, wide-angle cameras, monocular cameras, binocular cameras, fisheye cameras, linear cameras, etc.
  • the front-view camera may include a telephoto camera, a wide-angle camera, a monocular camera, a binocular camera, a fisheye camera, a linear camera, and other types of cameras.
  • FIG. 3 is a schematic diagram of a scene in which a vehicle enters a parking lot according to an embodiment of the present application.
  • Parking lot entrances may include barriers that control road accessibility.
  • FIG. 3 shows that when the barrier gate is closed, the road is closed and vehicles may not be able to pass normally. The vehicle can slow down or stop in front of the barrier gate until the barrier gate is opened.
  • vehicles can normally pass through the road controlled by the barrier gate, such as entering parking lots and other places.
  • the barrier gate can also be in other forms other than that shown in FIG. 3 , which is not limited in the embodiment of the present application.
  • FIG. 4 is a schematic diagram of a vehicle parking scenario provided by an embodiment of the present application.
  • the parking lot may include multiple floors.
  • floor 350 and floor 360 may be any two floors among the multiple parking floors; one floor may include multiple parking spaces, one or more of which Parking spaces are occupied, such as parking space 308, etc.
  • the free parking spaces can be used for parking other vehicles.
  • the vehicle 302 to be parked can enter and stop in parking spaces 304, 306, etc.
  • the parking spaces can be marked with signs, such as sign 305.
  • the floor 350 can include area 316, area 317, area 318, etc.; the multiple areas They may belong to the same parking area.
  • the areas 316 to 318 may belong to the area indicated by the parking area identification "Area A", or they may belong to multiple parking areas.
  • the area 316 may belong to the parking area identification "Area A”.
  • "area indicated, area 317 may belong to the area indicated by the parking area mark "Area B"; one floor may include multiple markers, such as columns 319, 320, 322, 324, 326, 327, 342, 344, etc. It is a column between floors.
  • the column can include floor information and/or parking area identification.
  • the column 319 can be marked with the parking area identification "Area", and the column 344 can be marked with "Area E” or "Underground Floor”. etc.; the parking lot can also include other signs.
  • the arrow shown in Figure 4 can be used to indicate the driving direction.
  • the parking lot can include a sign 346, which can be in a hanging state.
  • the sign 346 can be marked with identification (for example, parking area identification, floor identification, fire identification and other identifications);
  • the floor can include a closed or semi-enclosed interior wall, and the interior wall can also include floor identification and/or Parking area signs, etc., such as interior walls 328.
  • the parking lot may include more or fewer floors, such as an indoor parking lot including only floor 350, an outdoor parking lot, and so on.
  • FIG. 5 is a schematic diagram of a vehicle parking scenario provided by an embodiment of the present application.
  • the scene may include multiple parking spaces, one or more of which are occupied, such as parking space 408.
  • the free parking spaces may be used for parking other vehicles, such as parking spaces 404 and 406.
  • the parking spaces may be marked with The logo, for example, the logo 412 can be the logo of the parking space 406, that is, the logo of the parking space 406 can be "A107", and the logos of other parking spaces are similar.
  • dashed line 414 can It can be the driving trajectory of the vehicle 402, or it can be the planned parking route, or it can be a combination of the two.
  • the vehicle 402 can finally stop at the parking space 404.
  • a vehicle is parked in a parking space, such as vehicle 410 in parking space 408, due to space limitations, the length and width of the parking space may be close to the length and width of the vehicle. Therefore, even if the vehicle has multiple cameras that can capture the surrounding environment Due to the limitations of the installation location and/or sensing range of the sensor, as shown in Figure 5, the vehicle 410 that has stopped at the parking space 408 may not be able to collect the image of the parking space 408, and may not be able to obtain the identification "A106" of the parking space. If the vehicle needs to obtain the identification of the parking space through its own sensor, the vehicle may need to be located outside the parking space. For example, when vehicle 402 is parking and part or all of the vehicle is located outside the parking space 404, it can use its own camera sensor to obtain the identification of the parking space. Collect the image of the parking space and obtain the parking space identification "A106".
  • identification of the parking space is only an example for ease of explanation.
  • the identification of the parking space can also be in other forms.
  • the identification can be in the form of pure numbers (such as "0347"), or it can be letters, symbols and numbers. Combined with (such as "A-232"), etc., it should be understood that the embodiment of the present application does not limit the form of the parking space identification.
  • the parking scene shown in Figure 4 can be combined with the parking scene shown in Figure 5.
  • Figure 5 can be a top-down view of part of the parking lot 350 shown in Figure 4.
  • the vehicle 402 in Figure 5 can The vehicle 302 in FIG. 4 and the parking space 404 in FIG. 5 may be the parking space 304 in FIG. 4 .
  • FIG. 6 is a schematic diagram of an image of a parking space identification provided by an embodiment of the present application.
  • Figure 6 will be described below in conjunction with Figure 5.
  • the image of the surrounding environment collected by the camera sensor of the vehicle depends on the position of the vehicle.
  • Figure 6 (a), (b), (c) and ( d) It may be that during the parking process of the vehicle 402, at a certain moment, the parking space image collected by the vehicle's own camera sensor includes the part of the parking space identification, wherein (a) in Figure 6 may include the parking space of the parking space 404.
  • Identification "A106", (b) in Figure 6 may include the parking space identification "A107" of the parking space 406, and (c) and (d) in Figure 6 may include part of the parking space identification "A106" of the parking space 404.
  • the obtained identification of the parking space may indicate the target parking space.
  • the identification of the parking space can be obtained through other methods. For example, it can be based on the identification of other parking spaces in the collected pictures, combined with the setting of the parking space identification. According to the rules, the identification of the parking space where the vehicle is located can be estimated, and the identification of the parking space can also be completed based on multiple images to obtain the identification of the parking space where the vehicle is located. It should be understood that the above description of parking space identification is only illustrative, and the embodiments of the present application do not limit this.
  • FIG. 7 is a schematic diagram of the positional relationship between a parking space and parking space signs provided by an embodiment of the present application.
  • (a), (b) and (e) in Figure 7 are vertical parking spaces
  • (c) in Figure 6 is a horizontal parking space
  • (d) in Figure 6 is an oblique parking space.
  • the identification of the parking space may be located within the area included in the parking space, may be located outside the area included in the parking space, or may be located above the area included in the parking space.
  • the sign of the parking space can be located within the area included in the parking space; as shown in (b) in Figure 7, the sign of the parking space can be Located outside the area included in the parking space; as shown in (e) in Figure 7, the sign of the parking space can also be located above the area included in the parking space. That is to say, the sign can indicate the parking space in the form of a three-dimensional space mark. The area where the parking space is located, etc. It should be understood that the above description of the positional relationship between the parking space and the identification of the parking space is only an example for convenience of explanation, and the embodiment of the present application does not limit this.
  • FIG. 8 is a schematic diagram of another vehicle parking scenario provided by an embodiment of the present application.
  • the arrow may indicate the direction of travel of the vehicle in the parking lot, and the vehicle 702 is a vehicle waiting to be parked or being parked.
  • the parking lot may include multiple parking areas, such as area 716, area 717, and area 716 surrounded by dotted lines. It may include multiple parking spaces such as parking space 704 and parking space 706.
  • Parking space 704 may be the final parking space for the vehicle (not shown in Figure 7), and parking space 706 may be an adjacent free parking space.
  • Area 717 may also include multiple parking spaces, obstacles, etc.
  • the 719 and 720 may be pillars, and the pillars may include the logo of the parking area where the area 716 is located.
  • the obstacles 722 and 724 may also be pillars, and the pillars 722 and 724 may include the logo of the parking area where the area 717 is located.
  • the area 716 and the area 717 may belong to the same parking area, that is, it may belong to the parking area indicated by the sign of the same parking area. For example, area 716 and area 717 both belong to the parking area "H area", and the columns 720 and 722 may include the sign ""HArea" can also belong to different parking areas. Different parking areas can be distinguished by different parking area identifiers.
  • area 716 can belong to the parking area "H Area”
  • area 717 can belong to the parking area "G Area”.
  • This scenario can include The inner wall of the parking lot (not shown in Figure 8) can also be marked with parking area signs.
  • the inner wall can be marked with parking area signs such as "Area A”.
  • the parking spaces in Figure 8 can be The number of the parking space is marked.
  • the number of the parking space 704 can be "A104" (not shown in Figure 8).
  • the dotted line 730 can be the regional entrance
  • the dotted line 732 can be the regional exit
  • the entrance 730 can be connected to the road 752
  • the exit 732 can be Connected to the road 762
  • the roads 752 and 762 may be roads on the same plane as the parking area, or they may be ramps.
  • the road may belong to an inter-floor passage through which one can drive to another floor.
  • Figures 3, 4, and 5 can be combined with the scenario shown in Figure 8.
  • Figure 8 can be a top-down view of part of the parking lot 350 shown in Figure 4, and the vehicle 702 in Figure 8 It can be the vehicle 402 in Figure 4.
  • the parking spaces 704, 706, and 708 in Figure 8 can respectively correspond to the parking spaces 304, 306, and 308 in Figure 4, or can also correspond to the parking spaces 404, 406, and 408 in Figure 6.
  • Figure The entrances and exits of the areas in 8 can also be connected by the road where the entrance and exit of the parking lot shown in Figure 3 are located.
  • FIG. 9 is a schematic diagram of a column provided by an embodiment of the present application.
  • the column 810 can include a parking area logo.
  • the plane 811 includes a logo 815
  • the plane 813 includes a logo 817.
  • the logo 815 and/or the logo 817 can indicate a parking area, such as a column.
  • 850 may be the pillar 720 in FIG. 8
  • the sign 815 and/or the sign 817 may be the sign of the parking area to which the area 716 belongs.
  • FIG. 8 shows a column 850.
  • the column may be the column 722 or 724 in FIG. 8, and the labels 855 and/or 857 of the column may be the labels to which the area 718 belongs.
  • the pillars may also have other markings.
  • the surface 811 of the column 850 may be installed with a safety exit indication device 819 , which may include a sign 821 for indicating the safe passage, and a sign 823 for the direction of travel.
  • a parking area may include multiple levels, and multiple areas within the same level may be distinguished using signs.
  • the column 860 shown in (c) in Figure 9 may include the logo 865 "A" and the logo 867 "17".
  • the column may be the column 720 in Figure 8, where the parking area indicated by the logo 867 is the logo.
  • the parking area indicated by identification 865 is a parking area including area 716 and area 718.
  • area 716 and area 718 may be at the same level, and the identification of area 716 may be "17” , “A17", the logo of area 718 can be “18", “A18”, the logo of the parking area where parking space 704 is located can be "A”, or it can be "17", or it can also be “A17”, and the logo 867 can also be Can be on the same plane as logo 865, etc.
  • the embodiment of the present application provides a method for determining whether the vehicle is located in the parking lot area, which can determine whether the vehicle is located in the parking lot area based on the vehicle's status parameters combined with the detection results of the parking lot markers, which is helpful for intelligent triggering and parking.
  • Scene-related functions help improve the user experience.
  • FIG. 10 is an exemplary flow chart of a method for determining that a vehicle is located in a parking area provided by an embodiment of the present application.
  • the method 900 may include some or all of the following steps.
  • the first status parameter may include at least one of the signal quality of the GNSS signal, the vehicle speed, and the distance between the vehicle and the parking lot entrance.
  • the first status parameter may include signal quality of the GNSS signal.
  • signal quality of the GNSS signal For example, when entering an indoor parking lot such as an underground parking lot or a three-dimensional garage, due to the blocking of the GNSS signal by the external environment, the signal strength of the GNSS signal in this scene may be poor. According to the poor signal quality of the GNSS signal It may not be possible to position the vehicle, or there may be a large error in the positioning of the vehicle. Even if the terminal device used by the user (such as a mobile phone, tablet, etc.) or the vehicle driven by the user can use map software for navigation, because it cannot use GNSS The signal determines its own position and may not be combined with map information to determine whether the vehicle will drive into the parking lot.
  • the signal strength of the GNSS signal can be used. For example, when the signal strength of the GNSS signal is less than or equal to -90Bm When the vehicle is running, sensors such as radar and cameras are activated to collect data on the surrounding environment to confirm the scene in which the vehicle is located. This avoids turning on the radar, cameras and other sensors in the vehicle at all times, and saves the cost of sensors; for another example, when the vehicle antenna Only when the number of satellites above the field of view is greater than or equal to a certain threshold (such as 5) can the GNSS satellites provide effective signals to the vehicle. Due to the obstruction of the GNSS signal by the external environment, the number of satellites above the current antenna may be less than the threshold. According to Therefore, based on the number of satellites above the current field of view, sensors such as radar and cameras can be activated to collect data on the surrounding environment to confirm the scene where the vehicle is located.
  • a certain threshold such as 5
  • the first state parameter may include vehicle speed.
  • vehicle speed For example, when entering indoor buildings such as underground parking lots and three-dimensional garages, due to the complex driving environment in this scenario, the vehicle can travel at a lower speed. Therefore, when it is determined that the vehicle is traveling at a lower speed, it can start Sensors collect data.
  • the first state parameter may include the distance between the vehicle and the parking lot entrance.
  • the distance between the vehicle and the entrance of the parking lot can be determined by combining the map information and the location of the vehicle.
  • the distance between the vehicle and the entrance of the parking lot can be determined by combining the map information and the location of the vehicle.
  • the sensor can be controlled to turn on and collect data on the surrounding environment.
  • the first state parameter may be a combination of the signal quality of the GNSS signal, the vehicle speed, and the distance between the vehicle and the parking lot entrance.
  • the distance from the vehicle to the entrance of the parking lot and the signal quality of the GNSS signal can be combined to determine the timing for triggering the sensor to collect data.
  • the distance between the vehicle and the parking lot can be determined based on the map.
  • the distance to the field entrance is less than or equal to the preset distance (such as 30 meters), and the signal strength of the acquired GNSS signal is greater than the preset threshold. As the vehicle moves, the signal strength of the acquired GNSS signal changes.
  • the senor can be triggered to collect data at time 2; for another example, When the vehicle is driving to the underground parking lot, it may need to pass through the gate before entering the parking lot.
  • the vehicle speed is less than or equal to the preset threshold, which can be combined with the GNSS signal. Intensity, vehicle speed and first distance trigger the sensor to collect data, thereby avoiding premature activation of the sensor and saving sensor overhead. It should be understood that the above description of triggering the sensor to collect surrounding environment data based on the first state parameter is only an example for ease of explanation, and is not limited in the implementation of this application.
  • parking lot landmark detection can be performed based on data collected by perception sensors, which can include radar sensors and/or camera sensors.
  • the surrounding environment data can include data collected by radar sensors, and/or , images collected by the camera.
  • the perception sensor may include a radar, such as a lidar.
  • the radar can be started to collect data, so that it can be determined based on the data collected by the lidar whether the vehicle is entering the parking lot.
  • the perception sensor can be a camera sensor, such as a fisheye camera, a front-view camera, a side-view camera, etc., when the signal quality of the GNSS signal is less than the signal quality threshold, and the distance between the vehicle and the parking lot entrance is less than or
  • the camera sensor can be triggered to collect data, so that it can be determined based on the data collected by the camera whether the vehicle is in the scene of entering the parking lot; when it is determined that the first state parameter is less than or equal to the first threshold, if the sensing The sensor is already on, and the data collected by the sensing sensor after this moment can be obtained to detect parking lot markers; the data collected by the sensing sensor can be processed (such as filtering, feature extraction, etc.) before parking. Field marker detection. It should be understood that the above description of the sensing sensor is only an example for ease of explanation, and the embodiments of the present application do not limit this.
  • the sensing sensor when the first state parameter is less than or equal to the first threshold, the sensing sensor can be started and the data collected by the sensing sensor can be obtained.
  • starting the sensing sensor can be to control the sensing sensor to turn on and collect the surrounding environment data, or it can be to send a message to other control devices or sensing sensors.
  • the message can be used to instruct the sensing sensor to start.
  • this message can be used to instruct the sensor to remain on.
  • the vehicle when it is determined that the first state parameter is less than or equal to the first threshold, the vehicle can control its own sensing sensor to turn on, such as turning on the front-view camera shown in Figure 2, etc., to obtain the sensing sensor.
  • the chip can send a message to the sensor or sensor control device, and the message can be used to instruct the activation of one or more sensing sensors.
  • parking lot marker detection can be performed based on data collected by perception sensors.
  • the parking lot markers can be parking lot gates, parking spaces, pillars with parking area markings, parking lot guidance signs, etc.
  • feature extraction can be performed on the acquired surrounding environment data to detect whether there are Description of parking lot signs. It should be understood that the embodiments of the present application do not limit the method of detecting parking lot markers.
  • parking lot markers may be objects, signs, etc. that do not move in the parking lot, such as parking lot gates, parking spaces, parking lot guidance signs, parking lot indication signs, etc.; for another example, according to the first state parameter, Trigger sensors in the vehicle perception system, such as radars, cameras, etc.
  • the sensors can collect surrounding environment information.
  • the images collected by the cameras can include parking lot gates, parking spaces, and parking lot guidance signs. etc., gates, etc. can be identified based on the point cloud data collected by lidar.
  • feature extraction can be performed on images and point cloud data, and landmarks such as gates and parking spaces can be identified through deep learning networks. It can be determined that the vehicle is located in the parking lot area; for another example, if the vehicle is located in the parking lot area, it can be that the vehicle is already inside the parking lot, or it can be that the vehicle is at the entrance of the parking lot, and the vehicle can enter the parking lot from this entrance, that is to say, the parking lot Zones can include areas where parking lot entrances are located. It should be understood that the above descriptions of parking lot markers and parking areas are only examples for ease of explanation, and are not limited in the embodiments of the present application.
  • the first sensor can be started and the first sensor can be controlled to collect surrounding environment data.
  • the surrounding environment data can be used for marker detection in the parking area.
  • the sensor can be turned off.
  • one or more sensors in the sensing system can be turned on to obtain surrounding environment data, such as Surrounding environment data can be used to detect markers in the parking area, thereby enabling automatic activation of sensors in the parking lot environment, and controlling one or more sensors to collect data to provide the required data for corresponding functions.
  • the first function may be controlled to be activated.
  • this first function may be applied to parking scenarios. For example, after it is determined that the vehicle has driven to the parking lot based on the camera data, functional modules related to the parking scene can be awakened and triggered. For example, the function of identifying parking spaces can be triggered, so that the vacant spaces in the environment can be determined based on the data collected by the sensing sensors. Parking spaces, etc., the free parking space can be displayed on the screen in the cabin, the user's mobile phone and other terminals. For example, the function of identifying the parking area and parking floor can be triggered to determine the parking area and parking floor where the vehicle is parked.
  • the automatic parking system can be triggered to enable the automatic parking function, so that the relevant functions can be triggered and the scene mode can be jumped without the user's instructions, thereby improving the user experience.
  • the automatic parking system can be started.
  • Vehicle position reasoning function such as reasoning about the real-time position of the vehicle; for another example, it can trigger simultaneous localization and mapping (SLAM), so that a map of the parking lot can be created and the created map can be stored in the database , so that when the user subsequently parks in the parking lot, the user can realize automatic parking by calling the map in the database, and can also realize the user's remote control of the vehicle based on the map.
  • SLAM simultaneous localization and mapping
  • controlling the activation of the first function may be directly controlling the activation of the first function.
  • the vehicle control device executing the method may call its functions related to the parking scene, or may The first function is controlled by sending messages to other devices.
  • the chip, car machine and other devices that execute this method can send messages to other chips, devices, etc., and the message can be used Activate the first function at the instruction.
  • the surrounding environment data is obtained, which can reduce the dependence on the sensor to collect the surrounding environment data, reduce the working time of the sensor, thereby reducing the power consumption of the sensor.
  • Parking lot marker detection can determine whether a vehicle is located in a parking lot area, which helps the vehicle activate parking-related functions without user operation, thus helping to improve user experience.
  • the parking lot may have no free parking spaces, few free parking spaces, etc.
  • Some functions, processors, sensors, etc. related to the parking scene such as parking space identification, parking area identification and other functions and related sensors, if you enter the parking lot from a vehicle That is, upon startup, a large amount of invalid data may be obtained.
  • collecting and processing the invalid data may cause a large resource overhead.
  • the invalid results obtained based on the data processing may affect the normal operation of the function.
  • the embodiments of the present application provide a method for obtaining sensor data. When it is determined that the user has a parking intention, the sensors related to the parking scene are activated, thereby saving the corresponding resource overhead for the sensors and avoiding ineffective sensor collection. Data interferes with related functions.
  • FIG. 11 is an exemplary flow chart of a method for activating a sensor provided by an embodiment of the present application. This method can be 1000 to include some or all of the following steps.
  • the user can perform voice interaction with vehicles, terminal devices, etc.
  • the user can perform voice interaction with the vehicle, mobile phone, etc. through voice wake-up words, pressing physical buttons or virtual buttons, etc.
  • the vehicle, etc. can obtain the voice instructions given by the user in the voice interaction.
  • the user can manipulate the vehicle, and user operation information can be obtained based on the user's manipulation. For example, when the user turns the steering wheel, the steering wheel angle can be obtained. When the user steps on the brake pedal, the brake pedal stroke can be obtained. When the user adjusts the gear, the gear information can be obtained.
  • the user can obtain the steering wheel angle through interactive devices such as the central control screen. When interacting, you can obtain the operations performed by the user through the interactive device. It should be understood that the above methods of obtaining voice instructions and user operation information are only examples, and the embodiments of the present application do not limit this.
  • S1020 Detect the parking voice command according to the voice command.
  • start one or more sensing sensors or detect the first operation according to the user operation information.
  • start one or more sensing sensors start one or more sensing sensors. Multiple sensors.
  • the parking voice instruction may be a voice instruction indicating the user's intention to park.
  • the user can issue "I want to park”, “start automatic parking”, “find a parking space” and other voice commands that can indicate the user's intention to park.
  • the user's voice commands can be collected through the microphone, etc. By obtaining the user's voice instructions, the voice instructions with parking intention can be identified.
  • a first operation is detected, which may be used to indicate that the user has an intention to park.
  • the first operation can be a physical or virtual key, button, etc. that triggers the user's intention to park.
  • the user can click the virtual button "Automatic Parking” on an interactive device such as the central control screen, or press the "Automatic Parking” button in the cabin.
  • the user When detecting the user's above-mentioned operation, it can be determined that there is a parking intention; for example, the user can perform remote parking on a terminal device such as a mobile phone, and send the remote parking instruction to the vehicle, and accordingly , the vehicle can obtain this instruction, through which the user's parking intention can be determined; for another example, the user can indicate the desired parking space on an interactive device such as the central control screen, and the user's parking intention can be determined by detecting this information.
  • a parking intention for example, the user can perform remote parking on a terminal device such as a mobile phone, and send the remote parking instruction to the vehicle, and accordingly , the vehicle can obtain this instruction, through which the user's parking intention can be determined; for another example, the user can indicate the desired parking space on an interactive device such as the central control screen, and the user's parking intention can be determined by detecting this information.
  • the user's parking intention can be determined in combination with the area where the vehicle is located. That is to say, the detection of the first operation can be combined with the scene where the vehicle is located. For example, after determining that the vehicle is located in the parking lot area, the user can maneuver the vehicle to reverse into the parking space. Therefore, when it is detected that the gear position is adjusted to reverse gear, it can be determined that the user has parking intention; for another example, the user can drive the vehicle in reverse by combining the vehicle speed and the reverse gear.
  • the user's operation determines that the user has parking intention. For example, when it is determined that the vehicle is driving to the parking lot, the user controls the accelerator pedal, accelerator manual paddle, brake pedal, etc. to control the vehicle speed below the parking speed threshold (such as 2km/h).
  • the parking speed threshold such as 2km/h
  • one or more perception sensors can be started, and the one or more perception sensors can be controlled to collect surrounding environment data, where the sensor can be a camera, radar, etc., and the surrounding environment data This can be data collected by cameras and/or radars.
  • activating the sensing sensor may be to control the sensing sensor to turn on and collect surrounding environment data. For example, it may be to send a message to other control devices (such as sensor control devices) or sensors. The message may be used to instruct the sensor to be activated. After the sensor is turned on, it can collect surrounding environment data.
  • control devices such as sensor control devices
  • sensors such as sensor sensors
  • the message may be used to instruct the sensor to be activated. After the sensor is turned on, it can collect surrounding environment data.
  • controlling to turn on the sensor may mean controlling the sensor to be turned on to obtain subsequent data collected by the sensor.
  • the sensing sensor can be controlled to collect data. For example, after starting the sensing sensor, the sensing sensor can automatically collect data; when the sensor is in sleep, low-power consumption and other modes that do not collect data after being started, the working mode of the sensor can also be switched to control its data collection.
  • the sensor when it is determined that the user has parking intention, the sensor is activated, which can reduce the working time of the sensor and reduce the cost of the sensor.
  • the data collected by the one or more sensors can be obtained.
  • the multiple sensors can be the same type of sensors installed in different locations, or they can be installed in different locations. different types of transmission sensor.
  • the data collected by the rearview camera as shown in Figure 2 can be obtained; when the first operation, "I want to park" and other voice commands are detected, the data collected by the rearview camera can be obtained as shown in Figure 2
  • the data collected by multiple laser radars and/or multiple cameras shown in 2 may also be the data collected by the multiple radars and cameras and fused. It should be understood that the embodiments of the present application do not limit this.
  • the environmental information of the vehicle during parking can be confirmed.
  • vehicles, vehicle systems, processors or chips can determine the occupied parking spaces, free parking spaces and their parking space numbers, other vehicles, parking lot pillars, etc. in the parking lot.
  • Parking lot signs, area signs and other obstacle information, etc.; for example, vehicle control devices, on-board chips, etc., such as cockpit domain controllers, can obtain the data collected by these multiple sensors to determine the location of the vehicle during parking.
  • the cockpit domain controller can directly obtain the data collected by the sensor, or obtain the data collected by the sensor through other devices, such as the automatic parking assist (automated parking assist, APA) system.
  • automatic parking assist automated parking assist
  • the data collected by the sensor can be obtained. Further, the cockpit domain controller can obtain the data collected by the sensor from the automatic parking assistance system. When the APA system can process the data collected by the sensor, correspondingly, the cockpit domain controller The controller obtains the data collected by the sensor, or the cockpit domain controller obtains the sensor collected data processed by the APA system.
  • the surrounding environment data collected by the sensor is obtained, which can save the overhead of processing the surrounding environment data. Furthermore, when it is determined that the user has parking intention, the sensor can be activated without the user having to manually turn on the sensor, which can reduce the cost of the sensor and improve the user experience.
  • the embodiment of the present application provides a method for identifying the identification of a parking space, which can identify the parking space where the vehicle is located, and helps the user to know the identification of the parking space without using a terminal device such as a mobile phone to take a picture of the parking space, so that the user can pass This identification knows the location of the vehicle, making it easier for users to find the vehicle.
  • FIG. 12 is an exemplary flowchart of a method for identifying the identity of a parking space provided by an embodiment of the present application.
  • the method 1100 includes some or all of the following steps.
  • the first parking space image may include at least one parking space including the target parking space.
  • the vehicle 410 parked in the parking space may not be able to obtain the image of the parking space 408 where it is located through its own camera, so that the parking process of the vehicle 402 can be
  • the camera collects an image of the parking space.
  • the camera sensor of the vehicle can collect an image of the parking space 404 and the identification "A106" of the parking space.
  • the image may also include Part or all of other parking spaces adjacent to parking space 404, that is to say, the first parking space image may include part or all of the at least one parking space.
  • the first parking space image may be images of the at least one parking space at multiple times.
  • the camera in the vehicle collects images of the surrounding environment depending on the location of the vehicle, as shown in Figure 5, when the vehicle 402 drives into the parking space 404 from the current location, according to the camera's position at a certain moment in the middle, The collected images may not be able to identify the information related to the parking space.
  • the images collected by the camera about the parking space number may be as shown in (b), (c) and (d) in Figure 5, where, Figure Although the word "A107" in (b) of 6 is not the number "A106" of the vehicle's target parking space 404, the parking space number obtained based on this word can still vaguely indicate the location where the vehicle 402 is parked. To some extent, this information can also be used to indicate the parking space of the vehicle. For example, based on this information, the user can learn the area where his or her vehicle is located based on the parking space query system of the parking lot. This information may not cause too much trouble to the user.
  • the number of the target parking space can be determined.
  • (c) and (d) in Figure 6 are the words of the parking space number in two consecutive images taken by the camera, which can be fused through continuous optical character recognition (optical character recognition, OCR)
  • OCR optical character recognition
  • the identification method identifies the number "A106" of the target parking space.
  • the first duration may be any duration, which is not limited in the embodiments of this application.
  • the target parking space can be determined based on the parking space indication information, and the parking space indication information can be used to indicate where the target parking space is. area.
  • the user before vehicle 402 drives into a parking space, the user can indicate the parking space of the vehicle.
  • the user can specify where the vehicle will drive through an interactive device in the cockpit such as a vehicle display screen or a terminal device such as a mobile phone. into the parking space, or the vehicle can identify the surrounding free parking spaces and determine the vehicle's parking space according to preset rules.
  • the vehicle can enable automatic parking, auxiliary parking and other functions, and can choose to park from the current location to free parking.
  • the parking space with the shortest driving distance can be used as the target parking space, or the free parking space with the highest parking probability can be selected as the target parking space based on surrounding obstacles, etc., so that the parking space indication information can be obtained; for another example, the parking space indication information can be determined based on the parking space indication information.
  • FIG. 13 is a schematic diagram of an image of a parking space provided by an embodiment of the present application.
  • (a) in Figure 13 can be an image collected by the vehicle-mounted camera when the vehicle 402 in Figure 5 is driving into the parking space 404.
  • This image can be displayed on the vehicle-mounted display device (such as a central control screen, etc.),
  • the display interface may also include a mark 1151, which may be used to highlight the target parking space 404 in the image, through which the user can learn that the vehicle will drive into the parking space; (b) in Figure 13 may be based on (b) in Figure 13 A schematic diagram of the free parking space determined by the image in a), in which area 1153 can represent part of the parking space 406, and area 1155 can represent the entire area of the parking space 404.
  • the target parking space can be determined based on the proportion of multiple parking spaces in the first parking space image.
  • the proportions of multiple parking spaces in the image can be determined based on the collected images.
  • the area in (b) in Figure 13 can be determined. 1153 and the size or proportion of area 1155 in the collected image, determine the parking space of the vehicle, and thereby determine the image of the target parking space; for another example, there are relatively large differences in the images collected by a camera (such as a fisheye camera).
  • the image can be corrected for distortion, and the proportion of the multiple parking spaces in the corrected image can be determined.
  • S1130 Determine the identity of the target parking space based on the first parking space image.
  • the identity of the parking space can be determined. For example, by identifying the text contained in the image, for example, using OCR technology to identify the text in the image, the identification of the parking space can be obtained.
  • the identification can be a combination of numbers and letters, as shown in (a) in Figure 5
  • the "A106" shown can also be only numbers, such as "0247", or it can be only letters, or it can be a combination of colors, numbers, letters, etc. For the sake of simplicity, no examples will be given here.
  • the first parking space image may be appropriately processed.
  • the data collected by the sensor can be processed.
  • text detection can be performed on the image. If text is detected, the area where the text is located can be cropped to obtain an image of the text area.
  • Image processing can be performed on images with smaller sizes, which is beneficial to saving the cost of data processing; for another example, when multiple images can be obtained, the text parts in multiple images can be extracted and matched accordingly to This determination of the identification of the parking space can improve the accuracy of the determined identification.
  • one or more texts may be determined based on the first parking space image.
  • the text may also be called parking space information text.
  • the data collected by its camera may include, in addition to the identification of the parking space, other text content, such as It can include "dedicated parking space", “fire parking space”, “do not occupy”, the license plate number of the vehicle in the occupied parking space (such as "Beijing A 00001", etc.), etc., when identifying the parking space image collected by the camera sensor
  • multiple texts may be obtained, and the identification of the parking space can be determined from the multiple texts.
  • the identification of the target parking space may be determined based on the confidence level of the one or more parking space information texts.
  • the confidence level of the parking space information text can be determined based on the vehicle driving trajectory.
  • the images collected by its camera at multiple moments may include multiple texts.
  • the images including (as shown in Figure 6) can be obtained Based on the images of the words shown in a) and (b) at multiple times, based on the preset coordinate system, the coordinates of the multiple texts at the multiple times can be determined, so that the trajectories corresponding to the multiple texts can be determined.
  • vehicle s driving trajectory and/ Or plan the trajectory to determine the confidence of the text.
  • the trajectory corresponding to the text in (a) in Figure 6 can match the driving trajectory of the vehicle 402, and the trajectory corresponding to the text in (b) in Figure 6 The degree of matching with the driving trajectory of vehicle 402 is poor. From this, it can be determined that the confidence of the text in (a) in Figure 6 is higher than the text in (b) in Figure 6 , so that (a) in Figure 6 can be The text "A106" is determined as the identification of the target parking space, thereby improving the accuracy of determining the identification of the target parking space.
  • the confidence level of the parking space information text can be determined based on the confidence level rule. For example, text that only includes text (such as "fire hydrant", "safety exit”, etc.) can be considered to be unreasonable text, so that the obtained text can be filtered, thereby improving the quality of the obtained target parking space identification. Accuracy; for another example, based on the acquired confidence level table, confidence analysis can be performed on the text recognized from the parking space image. For example, for example, Table 1 is a parking space identification provided by the embodiment of the present application. An exemplary table of confidence levels.
  • Confidence ranking can be performed based on the parking space information text in Table 1, and the identification of the target parking space can be determined based on the confidence level, thereby improving the accuracy of the identification of the determined target parking space. It should be understood that the above confidence rules may be pre-configured or obtained through other methods, which is not limited in the embodiments of the present application.
  • the confidence level of the text can be determined in combination with the length, semantics, etc. of the text.
  • the vehicle-mounted display device can be controlled to display the image of the target parking space, where the vehicle-mounted display device can be a physical display such as a central control screen, or a virtual display such as a heads-up display (HUD).
  • the user can indicate the target parking space on a device such as the central control screen.
  • the central control screen can display an image of the target parking space.
  • the image can include part or all of the target parking space, for example, only include part of the logo of the target parking space, etc. ;
  • the target parking space can be displayed on the central control screen and other devices.
  • FIG. 14 is a schematic diagram of an interactive interface provided by an embodiment of the present application.
  • the chip, vehicle machine, and other devices that execute the method can send information to other devices.
  • the message indicating the logo of the target parking space can be displayed on the central control screen and other vehicle-mounted display devices as shown in Figure 14.
  • the user can also give feedback on the prompt, for example, close the message reminder (not shown in Figure 14), click "Yes" control etc. It should be understood that the above method of displaying the target parking space is only an example for ease of explanation, and is not limited in this embodiment of the present application.
  • a first message may be sent, and the first message may be used to indicate the target parking space.
  • the user can learn the target parking space on a terminal device such as a mobile phone.
  • the user can leave.
  • the first message is sent, for example, it can be sent directly to the terminal device connected to the vehicle via Bluetooth, or it can be sent to the terminal device through a network device, or it can be sent to the server through the network, and the server will This message is sent to the terminal device that is logged in/associated with the same account as the vehicle, so that the user can learn about the target parking space through a terminal device such as a mobile phone, thereby eliminating the need for the user to take photos of the parking space through a terminal device such as a mobile phone or tablet computer.
  • the target parking space can also be learned, thereby improving the user experience; for another example, after receiving the first message, a terminal device such as a mobile phone can display the information as shown in Figure 14, and the user can respond to the information, for example, in When the user responds affirmatively, the identification of the target parking space can be saved in the mobile phone or the corresponding server. When the user responds negatively, the mobile phone or other terminal device can obtain the image of the target parking space and prompt the user through the image of the target parking space.
  • the target parking space can be understood that the above description of the first message is only an example, and the embodiments of the present application do not limit this.
  • the identity of the target parking space can be determined based on the image of the target parking space, which helps the user to know the identity of the parking space without using a terminal device such as a mobile phone to take a picture of the parking space, so that the user can use the information Know the location of the vehicle, It is convenient for users to find vehicles.
  • a vehicle drives to a parking lot, such as a large parking lot, due to its complex terrain and environment
  • the parking area is directly indicated and identified based on the images collected by the vehicle in the parking lot, on the one hand, due to the It may include various movable objects, such as other temporarily parked vehicles, etc. Some objects in the scene and their positions may change over time, which is not conducive for the user to determine the parking area directly based on the image.
  • multiple objects and locations in the parking lot can have various logos.
  • Embodiments of the present application provide a method for identifying a parking area.
  • the parking area is determined based on the image of the marker, which can save the time spent on determining the parking area.
  • the cost of area identification can also improve the accuracy of the determined parking area identification.
  • the information of the parking area where the vehicle is located can also be prompted based on the marker, which also helps users to avoid the need to use terminals such as mobile phones.
  • the device takes a picture of the parking area, it will know the parking area where the vehicle is located, making it easier for the user to find the vehicle.
  • FIG. 15 is a method for identifying a parking area provided by an embodiment of the present application.
  • the method 1400 may include some or all of the following steps:
  • the surrounding environment data may include data collected by perception sensors such as radar and/or cameras.
  • it may include point cloud data collected by radar, image data collected by cameras, etc., which may also include radar.
  • the data collected by sensors and camera sensors for example, can be fused and analyzed after being collected by camera sensors and radar sensors respectively.
  • the surrounding environment data can be used to detect markers in the parking area. It should be understood that the embodiments of the present application do not limit this.
  • the surrounding environment data can be used to detect markers in the parking area, and the markers in the parking area can include objects that do not move in the parking area.
  • the vehicle 702 can detect whether there are parking area markers around it based on the data collected by its sensors, such as the pillars 720, 722, 724, parking lot inner walls 728, etc. as shown in Figure 8. .
  • the parking area is marked with a pillar.
  • the distribution density of columns in the parking lot will be higher than that of the interior walls.
  • the parking areas can be distinguished more precisely based on the columns, and a more accurate parking area can be determined based on the columns.
  • an image of the marker collected by the sensing sensor may be acquired. For example, based on the data collected by the radar sensor, it can be detected whether there are markers in the parking area in the surrounding environment.
  • the camera sensor can be controlled to collect the image of the marker.
  • the During the parking process multiple cameras are turned on to collect images of the marker from multiple angles, so that more details of the marker can be obtained based on multiple images.
  • the image can include other objects, and the corresponding area corresponding to the marker can also be turned on.
  • the camera sensor can reduce the power consumption of the sensor when acquiring the image of the marker; for another example, the image of the surrounding environment can be collected through the camera, and the marker can be detected based on the image.
  • the vehicle-mounted display device when a marker is successfully detected, can be controlled to display an image of the marker. For example, when a marker in the parking area is detected through an image, when the marker is detected based on the image, the image of the marker can be displayed on the vehicle-mounted display device, and further, the image of the marker can be displayed on the interface displayed on the display. Highlight the landmark with a wireframe or other methods.
  • S1450 Determine the parking area based on the image of the landmark.
  • different parking areas can be distinguished using different signs to facilitate management.
  • a parking area identification can be determined, and the parking area identification can be used to indicate the parking area.
  • the text in the image can be identified, for example, using OCR and other technologies to identify the text in the image. , so that the identification of the parking area can be obtained.
  • the identification can be a combination of letters and words, such as area B, or only letters, such as "B", or other methods, such as letters, Combination of characters and numbers, etc. It should be understood that the above description of parking area identification is only an example, and the embodiment of the present application does not limit this.
  • the parking area identification can be determined in combination with the identification of the target parking space.
  • images of pillars 720, 722, and 724 can be obtained.
  • the pillar 720 can include the identification of the parking area to which the area 716 belongs.
  • the pillar 720 can be as shown in (a) of Figure 8
  • the column 722 may include the identification of the parking area to which the area 718 belongs.
  • the column 722 may be as shown in (b) of FIG. 8
  • the target parking space may be the parking space 704, and the identification of the target parking space may be "A106".
  • the identification of the target parking space includes the area keyword "A", so that based on the images of the multiple pillars and combined with the area keyword, the identification "Area A" of the area 716 where the vehicle is located can be determined; for another example, the area keyword It can be the common letters, numbers, etc. included in the identification of the target parking space and the identification of the parking area.
  • the markers of the parking area can be determined based on the distance between the target parking space and the multiple markers, thereby determining the identity of the parking area.
  • the column 720 when the column 720 is shown in (a) in Figure 9 and the column 722 is shown in (b) in Figure 9, it can be determined based on the data collected by the camera and/or radar.
  • the distance between the target parking space and the plurality of markers for example, the distance between the column 720 and the parking space 704 is smaller than the distance between the column 722 and the parking space 704, so it can be determined that the marker in the parking area where the target parking space is located is the column 720. , it can be determined that the parking area where the vehicle is located is marked as "Area A".
  • one or more texts can be determined based on the image of the landmark.
  • the text can be called landmark information or landmark information text.
  • the marker can be as shown in (a) in Figure 9. According to the image of the marker, multiple texts such as "Area A”, “Safe Passage”, and " ⁇ " can be obtained. According to the multiple texts, The identification of the parking area can be determined, for example, by performing plausibility verification on the multiple texts. It should be understood that the above description of the marker information text is only an example, and the embodiments of the present application do not limit this.
  • the parking area identification may be determined based on the confidence of the one or more landmark information texts.
  • the confidence level of the landmark information text can be determined based on the confidence level rule. For example, it can be identified whether the text includes preset keywords, such as "area", "area”, etc.
  • the landmark of the parking area can be as shown in (a) in Figure 9. According to the image of the landmark, Multiple texts such as “Area A”, “Safe Passage”, and “ ⁇ ” are obtained, among which "Area A” includes the keyword "Area”, which can be determined as a parking area identifier; for another example, it can be based on the obtained confidence level Level table, perform confidence analysis on the text recognized from the landmark image.
  • Table 2 is an exemplary table of the confidence level of the parking area identification provided by the embodiment of the present application. It can be based on Table 2 ranks the landmark information text by confidence, thereby determining the parking area identification. It should be understood that the above description of the confidence level is only an example for ease of explanation, and the embodiments of the present application do not limit this.
  • the identity of the parking area can be determined based on images of the landmarks in the parking area at multiple times.
  • the acquired image of the landmark may only include a partial area of the landmark, so that the complete parking area identification may not be obtained, and images of the pillar 720 at multiple times may be obtained.
  • the parking area identification can be obtained, thereby improving the accuracy of determining the parking area.
  • a second message may be sent, and the second message may be used to indicate the parking area.
  • the second message can be sent when the user adjusts the gear to parking gear, pulls the handbrake, confirms the parking area through the interactive interface, leaves the vehicle or turns off the vehicle, etc., by sending the The second message can prompt the user of the parking area through network equipment or other equipment, so that terminal devices such as mobile phones can learn about the parking area, thereby reminding the user, so that the user does not need to use terminal devices such as mobile phones to check the parking area.
  • the parking area can also be known, thereby improving the user experience; for another example, after determining the parking area, the vehicle can send a message to the cloud server through the vehicle-mounted communication device to indicate the parking area, so that terminal devices such as mobile phones can obtain information from the parking area.
  • the cloud server learns the parking area, and the vehicle can also send information via Wi-Fi, Bluetooth, etc.
  • a message is sent to a terminal device such as a mobile phone associated with the vehicle, so that the terminal device can learn about the parking area; for another example, illustratively, FIG. 16 is a schematic diagram of another interactive interface provided by an embodiment of the present application. After receiving the first After receiving the message, the terminal device such as mobile phone can display the interface as shown in Figure 16 on its interface.
  • the user can also give feedback on the message, for example, click on the negative response control 1505, click on the positive response control 1503, etc., after obtaining the positive response.
  • the mobile phone can save the identification of the parking area locally or in the server.
  • the mobile phone can obtain images of the surrounding environment of the vehicle, images of landmarks in the parking area, etc., thus prompting the user in the form of images. . It should be understood that the above description of the second message is only an example, and the embodiments of the present application do not limit this.
  • the vehicle-mounted display device can be controlled to display the logo of the parking area.
  • the interface shown in Figure 16 can be displayed on the vehicle's central control screen, and user feedback can also be accepted through the interactive device.
  • the user can turn off the message reminder on the central control screen and respond to the displayed information. Positive response, etc.;
  • the image of the parking area landmark can be displayed on a vehicle display device such as the central control screen, and the image can include the identification of the landmark.
  • it can be displayed as shown in Figure 9
  • the parking area is determined by obtaining an image of the landmark in the parking area, which can improve the accuracy of determining the identification of the parking area and save time in determining the parking area.
  • Resource overhead can also be used to determine the parking area through markers when the sign of the parking area cannot be recognized. It also helps users to know the parking area where the vehicle is without having to take pictures of the parking area through mobile phones and other terminal devices. , making it easier for users to find cars.
  • Embodiments of the present application provide an interactive method, device and terminal device for indicating a parking position. By obtaining vehicle position information and indicating the parking position of the vehicle on the interface, it is helpful for users to take photos of parking spaces without using terminal devices such as mobile phones. In this case, we will know the parking space and/or parking area in order to improve the user experience.
  • FIG. 17 is an exemplary flow chart of an interactive method for indicating a parking location provided by an embodiment of the present application.
  • the method includes:
  • the vehicle location information may be used to indicate the location of the vehicle.
  • a terminal device such as a mobile phone can obtain a first message indicating a target parking space from a vehicle or network device; for another example, a terminal device such as a mobile phone can obtain a second message indicating a parking area (or parking zone);
  • the obtained vehicle location information can be used to indicate both the target parking space and the parking area. That is to say, the first message and the second message can be the same message; for another example, the first prompt message can be received.
  • the first prompt message can include the parking location information of the vehicle, so that the parking location information can be obtained; for another example, a terminal device such as a mobile phone can obtain an image of the surrounding environment of the vehicle, and by presenting the image of the surrounding environment, the user can know the area where the vehicle is located . It should be understood that the above description of vehicle location information is only an example, and the embodiments of the present application do not limit this.
  • the terminal device may be associated with the vehicle.
  • a terminal device such as a mobile phone can be directly connected to the vehicle in a wired or wireless manner.
  • the mobile phone can be connected to the vehicle through Bluetooth or other means; for another example, the mobile phone can be a terminal that logs in and is associated with the same account as the vehicle. equipment. It should be understood that the above methods are only examples for convenience of explanation, and are not limited by the embodiments of the present application.
  • S1620 Display the first interface, which can be used to display the parking position of the vehicle.
  • a first interface may be displayed in a display associated with the terminal device, and the first interface may be used to indicate the parking area and/or the target parking space.
  • FIG. 18 is a schematic diagram of an interactive interface provided by an embodiment of the present application.
  • the interface can be an interface displayed on a terminal device such as a mobile phone or a tablet computer in its associated display.
  • the mobile phone can display the information as shown in Figure 18
  • the area 1704 in the interface may include the parking area identifier "Area” and the target parking space identifier "236".
  • the interface may also include location information of the parking lot where the vehicle is located. For example, the address of the parking lot is displayed in area 1702 of the interface.
  • the interface can also include other controls, such as control 1706. By clicking on this control, the user can obtain other information related to the parking area and/or the target parking space, such as when the mobile phone detects When the user clicks the control 1706, the interface shown in (b) of Figure 18 is displayed.
  • the image 1710 of the landmark of the parking area can be displayed in the interface.
  • the landmark 1711 in the image 1710 can be the pillar in (a) in Figure 9. That is to say, the image can display the image of the landmark of the parking area. At least part of the area, such as the area used to indicate the sign of the parking area, etc., can also display an image 1714 of the target parking space in the interface.
  • the parking space 1715 in the image 1714 can be the parking space 704 in Figure 7, that is, the The image may display at least part of the area of the target parking space, such as an area used to indicate a sign of the target parking space.
  • the interface may also include other controls, such as control 1708. When the mobile phone detects that the user clicks on control 1708, the interface as shown in (a) in Figure 18 may be displayed.
  • this interface can display both the target parking space logo and the parking area logo, such as the content shown in area 1716, and can also display the image of the target parking space and the image of the parking area marker, such as Image 1717 and Image 1718.
  • FIG. 19 shows a set of graphical user interfaces (graphical user interface, GUI) provided by embodiments of the present application.
  • the electronic device When the user searches for a car through an electronic device, he can swipe left on the main desktop page of the electronic device as shown in (a) in Figure 19.
  • the electronic device responds to the user's left swipe operation and displays a display as shown in (b) in Figure 19 negative one screen.
  • the electronic device can display the service number 1720 through the negative one-screen interface.
  • the service number 1720 displays the geographical location of the vehicle parking, such as "The vehicle is located on the B3 floor of Building xx, Building xx, xx Mall, xx District”; and the parking space number of the parking space where the vehicle is parked. , such as "A-106", where "A” can represent the parking area, and "106" can represent the specific number of the parking space.
  • the service number 1720 may also display the type or name of the parked vehicle, such as "XX vehicle is parked.” Further, in response to the user's operation of clicking on the service number 1720, the electronic device can display the geographical location where the vehicle is parked, the parking space number of the vehicle parking space, and the parking space containing the parking space number through the service card 1722 as shown in (c) of Figure 19 Image 1724. This allows users to more intuitively obtain information related to the parking space number where the vehicle is parked.
  • the electronic device when it detects the user's operation of viewing negative screen information, it queries the car owner's APP to see if there is parking location information. If so, the vehicle's parking location is determined based on the parking location information, and the vehicle is parked on the negative screen.
  • One screen displays the parking location, such as the geographical location where the vehicle is parked, the parking space number at the vehicle parking location, and one or more of the parking space images.
  • the negative screen refers to the interface displayed after the user detects the user's right sliding operation on the desktop of the mobile phone (the desktop of the mobile phone as shown in (a) of Figure 19).
  • the desktop of the mobile phone shown in (a) in Figure 19 can be the second desktop page on the desktop of the mobile phone, and the negative screen can be the first desktop page on the desktop of the mobile phone, as shown in (b) in Figure 19 shown.
  • the negative screen can provide users with services such as search, application suggestions, quick services, missed call notification cards, situational intelligence and more. Among them, the negative screen can display some applications (applications, APPs) frequently used by users.
  • the notification card can also be displayed through the slide-down notification bar interface of the mobile phone or other electronic device.
  • the notification card can display the geographical location of the vehicle parking, such as, "The vehicle is located on the B3 floor of Building xx, Building xx, xx Mall, xx District", and the information of the parking space where the vehicle is parked, such as "A-106"; for example, the notification The card can display the geographical location of the vehicle's parking, the identification of the parking space where the vehicle is parked, and the parking space image containing the parking space identification, allowing users to more intuitively obtain the parking location information of the vehicle.
  • the user can click on the service card 1720, slide down the notification card on the notification bar interface, or the user can enter the main desktop page of the car owner APP by clicking on the icon of the car owner APP.
  • electronic devices such as mobile phones can display the main desktop page of the car owner APP as shown in (a) of Figure 20 .
  • the main desktop page of the car owner APP may include a location information box 1730.
  • the location information box 1730 may include the address of the parking location of the vehicle, such as "Floor B3, Building xx, Building xx, Mall xx, District xx, xx City"; Vehicles and Electronic Equipment The distance information between them, such as “2.3km”; the current status information of the vehicle, such as "Parking”; and the prompt information "Click to use smart car search".
  • the electronic device responds to the user's click operation and displays an intelligent car-finding interface as shown in (b) of Figure 20.
  • the navigation information box 1732 may be displayed in the intelligent car-finding interface.
  • the navigation information box 1732 contains the time information 1736 required for the electronic device to navigate to the location of the vehicle; the intelligent car-finding interface can also display a vehicle parking location image box 1734, as well as a map containing the geographical location where the vehicle is parked and where the vehicle is. Location 1735 on the map.
  • the electronic device in response to the user's operation of clicking on the location information box 1730, when the electronic device displays the smart car search interface, it may also display "Smart car search is enabled” as shown in 1738 in (b) of Figure 8 The car-seeking animation.
  • the electronic device may also be a terminal device such as a smart watch, a tablet computer, etc.
  • a terminal device such as a smart watch, a tablet computer, etc.
  • the embodiment of the present application does not limit the form of the terminal device.
  • the terminal device after acquiring the vehicle location information, displays the parking location of the vehicle on the first interface, so that the user can know the parking location of the vehicle, which facilitates the user to find the vehicle and improves the user experience.
  • Figure 21 may be an exemplary flow chart for identifying a parking area provided by an embodiment of the present application.
  • the method 1800 may include some or all of the following steps.
  • the surrounding environment data can be used to detect markers in parking areas.
  • the surrounding environment data may be data collected by one or more sensors.
  • the surrounding environment data may be data collected by one or more cameras and/or one or more radar sensors. This is not the case in the embodiment of the present application. Make limitations.
  • the landmark of the parking area may be a pillar or the like.
  • the landmark of the parking area refers to step S1410 and so on.
  • images of one or more parking spaces including the target parking space can be obtained, and the target parking space can be determined based on the parking space indication message. It should be understood that the description of obtaining the first parking space image may refer to step S1110 and so on.
  • obtaining the surrounding environment data can be performed at the same time as obtaining the first parking space image. That is to say, step S1820 and some or all of steps S1805 to S1810 can be performed at the same time, or step S1820 can be performed first, and then Some or all of steps S1805 to S1810 may be performed first, and the embodiment of the present application does not limit this.
  • S1825 Determine the identity of the target parking space based on the first parking space image.
  • the identity of the target parking space can be determined. It should be understood that for a description of determining the identification of the target parking space, reference may be made to step S1130.
  • the identification of the target parking space it can be determined whether the identification includes a regional keyword. For example, it can be considered that the identification "013" does not include the regional keyword, and the regional keyword of the identification "A106" can be considered as "A”; for another example, the parking space identified as "H-0367” has the identification of the parking area as " P1-H", the regional keyword can be considered to be "H”; for another example, the logo of the target parking space, such as "C0237", when there are multiple landmark information texts (for example, the text "C17", “D17”, “C18” "), the identification of the target parking space can be matched with the landmark information text.
  • the identification of the target parking space can be matched with the landmark information text.
  • the identification of the parking area can be determined.
  • the identification of the parking area can be determined based on the distance between the vehicle and the landmark where the identification is located when the vehicle is in a parking position.
  • S1830 When the identification of the target parking space includes a regional keyword, determine the parking area based on the image of the landmark and the regional keyword.
  • multiple parking areas may be distinguished according to parking area identifiers.
  • images of the multiple markers may be obtained.
  • the multiple markers may indicate multiple parking areas, and the first marker may be determined based on the distance between the target parking space and the multiple markers.
  • the first marker may be the marker with the shortest distance from the target parking space among the plurality of markers, and the identification of the parking area may be determined based on the image of the marker.
  • the identification of the parking area can be determined based on the image of the landmark, so that the parking area can be determined based on the identification of the parking area. It should be understood that for the method of determining the parking area, refer to step S145.
  • the parking area can be determined in combination with the region keyword. For example, when determining multiple texts based on images of multiple landmarks, such as "P1", “P1-H”, “P1-G”, “Safe Channel”, etc., although the confidence levels of the multiple texts can be , filter the multiple texts to determine the parking area, but because the confidence evaluation rules may not be applicable to all parking lots, there may also be situations where multiple texts have the same confidence level, such as "P1-H” and "P1-G", it may not be possible to determine the accurate parking area identification, so the parking area can be determined by combining the area keywords.
  • the identification of the target parking space is "H-013", because the identification of the target parking space is different from the text " P1-H” has the same area key "H", and the parking area can be determined as "P1-H”. It should be understood that the above description of determining the parking area is only an example for ease of explanation, and the embodiment of the present application does not limit this.
  • the area keyword is determined through the identification of the target parking space, and the identification of the parking area is determined based on the area keyword and the image of the landmark in the parking area, thereby identifying the parking area, which can improve the accuracy of identifying the parking area.
  • S1835 send a second message, which may be used to indicate the parking area.
  • the second message may indicate the parking area through a sign indicating the parking area, or may indicate the parking area through a landmark indicating the parking area.
  • the second message may indicate the parking area by sending an image of a landmark in the parking area. It should be understood that the embodiments of the present application do not limit this.
  • the terminal device can obtain the second message, and can display the first interface according to the second message, so that the user can learn the parking location of the vehicle according to the interface.
  • S1840 send a first message, which may be used to indicate the target parking space.
  • the first message may indicate the target parking space through a sign indicating the target parking space, or may indicate the target parking space through an image indicating the target parking space. It should be understood that the embodiments of the present application do not limit this.
  • the terminal device can obtain the first message, and can display the first interface according to the first message, so that the user can learn the parking space where the vehicle is located based on the interface.
  • step S1835 may be performed first, step S1840 may be performed first, or steps S1835 and S1840 may be performed simultaneously, which is not limited in the embodiment of the present application.
  • a third message may be sent, and the third message may be used to indicate the surrounding environment.
  • a third message indicating the surrounding environment may be sent.
  • some parking lots may not be divided into multiple parking areas, and may only be marked with parking space signs in the area where the parking spaces are located. Therefore, the vehicle may not be able to know where the vehicle is based on the image of the marker collected by its sensor.
  • the parking area of the vehicle can be used to indicate the surrounding environment data of the vehicle by sending a third message.
  • images collected by a panoramic image system around view monitor, AVM), digital video recorder (DVR), etc. can be sent to terminals such as mobile phones. equipment to facilitate users to find cars.
  • the parking area is determined by combining the area keywords and the images of landmarks in the parking area, which can improve the accuracy of the determined parking area.
  • the target parking space can be indicated by sending the first message
  • the parking area can be indicated by sending the second message, which allows the user to know the parking area and/or the vehicle is located without taking pictures of the parking area and/or the target area. Or target area, which can improve the user experience.
  • FIG. 22 is an exemplary flow chart of a method for identifying a parking area provided by an embodiment of the present application.
  • the method 1900 may include some or all of the following steps.
  • the parking voice instruction may be a voice instruction used to indicate the user's intention to park
  • the first operation may be used to indicate the user's intention to park.
  • the first operation may be that the user clicks the "automatic parking" virtual button on the central control screen of the vehicle, or the like. It should be understood that the description regarding the first operation may refer to step S1020 and so on.
  • the parking voice instruction can be detected based on the obtained voice instruction, and the first operation can be detected based on the obtained user operation information.
  • the first sensor when the first operation is detected, the first sensor is activated, or the first sensor is activated according to the parking voice instruction, that is, when it is determined that the user has parking intention, the first sensor is activated.
  • steps S1905 to S1910 may correspond to steps S1010 to S1020.
  • steps S1905 to S1910 may correspond to steps S1010 to S1020.
  • steps S1905 to S1910 may correspond to steps S1010 to S1020.
  • the first sensor when it is determined that the user intends to park, the first sensor is activated, which can reduce the time used by the sensor for data collection, save the cost of the sensor, and extend the service life of the sensor.
  • the sensor collects surrounding environment data, and the surrounding environment data can be used for marker detection in the parking area.
  • the first sensor may include one or more sensors of the same or different types.
  • multiple lateral cameras and lidar shown in Figure 2 can be activated.
  • the surrounding environment data can be collected; for another example, when it is detected that the user adjusts the gear to reverse gear,
  • the rearview camera shown in Figure 2 can be activated.
  • starting the first sensor and controlling the first sensor to collect the surrounding environment data may be to directly control the first sensor to turn on and collect the surrounding environment data, or it may be to send a message to other control devices (such as sensor control devices) or sensors. , this message can be used to instruct the sensor to collect surrounding environment data,
  • steps S1920 to S1925 may correspond to steps S1410 to S1430, which will not be described again here for the sake of brevity.
  • S1930 Determine the parking area based on the image of the landmark in the parking area.
  • a parking area identification can be determined, and the area indicated by the parking area identification can be a parking area.
  • step S1450 regarding the method of determining the parking area, reference may be made to step S1450 and so on.
  • S1935 control the vehicle-mounted display device to display the logo of the parking area.
  • the parking area identification may be displayed on the vehicle-mounted display device.
  • the parking area identification can be displayed on the central control screen, "The current vehicle is located in area A of the parking lot, please confirm.” It should be understood that the above examples are only illustrative and are not limited by the embodiments of the present application.
  • S1940 obtain user feedback information.
  • the user's operation can be detected and the user's feedback information can be obtained.
  • the interface as shown in Figure 16 can be displayed on the central control screen.
  • the user clicks on the control 1503 it can be determined that the user's feedback is a positive response.
  • the user clicks on the control 1505 it can be determined that the user's feedback is negative. answer.
  • S1945 send the first message.
  • the first message can be sent, through which the identity of the parking area can be learned, so that the user can know that the vehicle is in the parking area through a terminal device such as a mobile phone.
  • the first message can be sent, through which the image of the landmark in the parking area can be obtained, so that the parking area where the vehicle is located can be learned based on the image of the landmark.
  • the first sensor when it is confirmed that the user has parking intention, the first sensor is activated, and the parking area marker is detected based on the surrounding environment data collected by the sensor.
  • the first sensor can be detected based on the image of the marker. Determining the parking area can reduce the cost of sensors used in the process of identifying the parking area.
  • FIG. 23 is a schematic flowchart of a method for identifying the identity of a parking space provided by an embodiment of the present application.
  • the method 2000 may include some or all of the following steps.
  • the description of the first state parameter may refer to step S910 and so on.
  • descriptions about the first threshold and parking lot markers may refer to step S920 and so on.
  • a parking lot marker when a parking lot marker is detected, it can be determined that the vehicle is located in the parking lot area, and further, functions related to the parking scene can be controlled to be enabled, which will not be described again here for the sake of brevity.
  • parking-related functions and corresponding sensors can be activated.
  • the user experience can be improved.
  • the sensing sensor can be started, that is, the sensor can be controlled to collect data, and the sensor can be used to collect images of parking spaces including the target parking space.
  • the sensor can be called a second sensor.
  • the second sensor can be the same as the first sensor, or it can be different from the first sensor.
  • the second sensor can be one or more A camera sensor, that is to say, the data collected by this sensor can be used to detect markers in the parking area, and can also be used to obtain images of the target parking space.
  • the markers in the parking area can be detected based on the images collected by the AVM, or the target parking space can be determined based on the images collected by the AVM based on the parking space indication information; by controlling the rearview camera to collect images, the third parking space can be obtained.
  • an image of the target parking space can be obtained.
  • the description of the first parking space image may refer to step S1110 and so on.
  • S2035 Determine the identity of the target parking space based on the image of the target parking space.
  • steps S2030 to S2040 may correspond to steps S1110 to S1130.
  • steps S2030 to S2040 may correspond to steps S1110 to S1130.
  • steps S1110 to S1130 For the sake of brevity, they will not be described again here.
  • a first message may be sent, and the first message may be used to indicate the target parking space.
  • the second sensor when the user can remotely issue instructions for automatic parking through the mobile phone, by determining that the vehicle is located in the area of the parking lot, the second sensor can be triggered to collect the image of the target parking space, and thereby obtain the identification of the target parking space, and further By obtaining the first message, the mobile phone can enable the user to know the target parking space where the vehicle is located, so that the user can find the vehicle more conveniently, which can improve the understanding of the vehicle. User experience of remote parking.
  • FIG. 24 is a schematic flowchart of a method for identifying a parking area provided by an embodiment of the present application.
  • the method 2100 may include some or all of the following steps:
  • the description of the first state parameter may refer to step S910 and so on.
  • descriptions about the first threshold and parking lot markers may refer to step S920 and so on.
  • S2120 When the parking lot marker is detected, determine that the vehicle is located in the parking lot area.
  • a parking lot marker when a parking lot marker is detected, it can be determined that the vehicle is located in the parking lot area, and further, functions related to the parking scene can be controlled to be enabled.
  • the first sensor can be used to collect surrounding environment data, and the surrounding environment data can be used to detect markers in the parking area. Correspondingly, after the first sensor is activated, the sensor can collect the surrounding environment data.
  • the description about the first sensor may refer to step S1915 and so on.
  • S2130 Obtain the surrounding environment data, and when a landmark in the parking area is detected, obtain an image of the landmark.
  • S2135 Determine the parking area based on the image of the landmark.
  • steps S2130 to S2135 may correspond to steps S1430 to S1450.
  • a second message may be sent, and the second message may be used to indicate the parking area.
  • the first sensor when the vehicle is driving automatically or is not under the control of the user, for example, when the user can remotely issue an automatic parking instruction through a mobile phone, the first sensor can be triggered to collect the surrounding area by determining that the vehicle is located in the area of the parking lot. Environmental data and detection of landmarks in the parking area. By obtaining images of landmarks in the parking area, the parking area can be determined. Furthermore, the mobile phone can obtain the second message to enable the user to know the parking area where the vehicle is located. , to facilitate users to find cars and improve the user experience of remote parking of vehicles.
  • method 2100 can be combined with method 1800 so that the accuracy of the identified target area can be improved.
  • FIG. 25 is a schematic flowchart of a method for identifying the identity of a parking space provided by an embodiment of the present application.
  • the parking voice instruction may be a voice instruction used to indicate the user's intention to park, and the first operation may be used to indicate the user's intention to park.
  • step S1010 the description of the parking voice instruction and the first operation may refer to step S1010 and so on.
  • the second sensor can be used to collect images of the target parking space.
  • the description about the second sensor may refer to step S2025 and so on.
  • steps S2205 to S2210 may correspond to steps S1010 to S1020.
  • steps S2205 to S2210 may correspond to steps S1010 to S1020.
  • steps S2205 to S2210 may correspond to steps S1010 to S1020.
  • the data collected by the second sensor can be obtained, and based on the data, an image of at least one parking space including the target parking space can be obtained, that is, the first parking space image.
  • S2220 Determine the identity of the target parking space based on the first parking space image.
  • a first message may be sent, and the first message may be used to indicate the target parking space.
  • steps S2215 to S2220 may correspond to steps S1110 to S1130.
  • the second sensor when it is confirmed that the user has parking intention, the second sensor is activated, and the identification of the parking space is determined based on the image of the target parking space collected by the sensor, which can reduce the time used in the process of identifying the identification of the target parking space.
  • the cost of the sensor is reduced, and the corresponding sensor is activated according to the user's parking intention, which can reduce the interference of invalid data on the identification of the parking space and improve the accuracy of the determined parking space identification.
  • FIG. 26 is a schematic flowchart of a method for identifying parking space signs and parking areas provided by an embodiment of the present application.
  • the method 2300 may include some or all of the following steps:
  • the first operation may be detected in conjunction with method 900. For example, after determining that the vehicle is located in the parking lot area, when it is detected that the user adjusts the gear to reverse gear, it can be determined that the user has parking intention; for another example, after determining that the vehicle is located in the parking lot area, when it is detected that the user presses the accelerator pedal Or when the brake pedal controls the vehicle speed to a vehicle speed threshold (such as 2km/h), it can be determined that the user intends to stop.
  • a vehicle speed threshold such as 2km/h
  • the description of the parking voice instruction and the first operation may refer to step S1010 and so on.
  • the first sensor can collect surrounding environment data.
  • the second sensor can collect an image of the target parking space.
  • steps S2305 to S2310 may correspond to steps S1010 to S1020.
  • the surrounding environment data can be used to detect markers in parking areas.
  • steps S2315 to S2320 may correspond to steps S1410 to S1430.
  • the first parking space image can be obtained, and further, the target parking space can be determined in combination with the parking space indication message.
  • obtaining the surrounding environment data can be performed at the same time as obtaining the image of the target parking space. That is to say, step S2320 and some or all of steps S2305 to S2310 can be performed at the same time, or step S2320 can be performed first, and then Some or all of steps S2305 to S2310 may be performed first, and this is not limited in the embodiment of the present application.
  • S2330 Determine the identity of the target parking space based on the image of the target parking space.
  • the identity of the target parking space can be determined. For example, for a description of determining the identification of the target parking space, reference may be made to step S1130.
  • the identification of the target parking space it can be determined whether the identification includes a regional keyword.
  • steps S2325 to S2330 may correspond to steps S1110 to S1130.
  • steps S2325 to S2330 may correspond to steps S1110 to S1130.
  • steps S2325 to S2330 may correspond to steps S1110 to S1130.
  • S2335 When the identification of the target parking space includes a regional keyword, determine the parking area based on the image of the landmark and the regional keyword.
  • S2340 send the first message and/or the second message.
  • FIG. 27 is a schematic flowchart of a method for identifying the identity of a parking space provided by an embodiment of the present application.
  • the method 2400 may include some or all of the following steps.
  • S2405 Obtain the video image of the target parking space collected by the second sensor within the first period of time.
  • the video image of the target parking space may include the multiple images of the target parking space, and may be images of consecutive frames collected by the second camera within a first duration, and the first duration may be any duration.
  • the video of the target parking space collected by the camera sensor within a certain period of time (such as 5 seconds) can be obtained.
  • the video can include images of multiple consecutive frames, and the video can also include other parking spaces other than the target parking space. It should be understood that the embodiments of the present application do not limit this.
  • part or all of the vehicle is located outside the target parking space.
  • S2410 Perform text detection on the multiple images of target parking spaces.
  • text detection can be performed on the multiple images of target parking spaces.
  • text detection can be performed on multiple pictures.
  • the part of the image that includes text can be intercepted to avoid other parts of the image from interfering with data processing. It can also save time in the text recognition process. processing resources required.
  • text recognition can be performed on images containing text, so that one or more texts can be obtained.
  • the images collected by its camera may include other parking spaces in addition to the target parking space, and the target parking space may include other signs other than the target parking space.
  • Other information such as arrows used to indicate the direction of travel, parking space type "temporary parking space", etc., thus performing text recognition on the image, one or more texts can be obtained.
  • the method of text recognition you can refer to related technologies. For the sake of simplicity, this article No further details will be given. It should be understood that the above description of text recognition is only an example, and the embodiments of the present application do not limit this.
  • the identification of the target parking space can be determined based on the result of text recognition. For example, based on the multiple images, the trajectories corresponding to the multiple texts obtained can be determined, and the trajectories of the vehicles can be combined to filter out the information and logos of other parking spaces other than the target parking space. Furthermore, the trajectories of the multiple texts can be determined based on the trajectories of the multiple texts. Confidence, determine the identification of the target parking space; for another example, the text recognized in multiple images can be associated to make up for the impact of incomplete text in a single image on the identification of the identification. For example, (c in Figure 6 can be reduced ), (d) shows the impact of the image on the recognition of parking space signs. It should be understood that the above method of determining the identification of the target parking space is only an example for ease of explanation, and is not limited in this embodiment of the present application.
  • step S1130 For example, regarding the method of determining the target parking space, reference may be made to step S1130 and so on.
  • method 2400 can be combined with method 1100, etc., which will not be described again here.
  • the impact of incomplete characters in a single image on the identification identification can be compensated.
  • the vehicle trajectory screening can also be combined based on the video images. In addition to the text information of other parking spaces, it can improve the accuracy of identifying the logo of the target parking space.
  • Figure 28 is a schematic diagram of a method for identifying a parking area provided by an embodiment of the present application.
  • the method 2500 may include some or all of the following steps:
  • the surrounding environment data can be used for column detection.
  • S2510 Perform column detection based on the surrounding environment data, and when a column is detected, obtain a video image of the column.
  • the column detection can be performed based on the data collected by the radar, or the column detection can be performed based on the data collected by the camera.
  • the column detection can be performed based on the image collected by the AVM, and the video image of the column can be obtained. The video image of the column can be determined from the acquired image.
  • the video image may include multiple images collected by the camera within a certain period of time.
  • S2515 Perform text detection on the image of the pillar.
  • text recognition can be performed on the image containing text, so that one or more texts can be obtained.
  • S2525 semantic classification
  • the one or more texts may be semantically classified.
  • plain text such as "safe channel”, etc.
  • text that only includes symbols such as " ⁇ ", etc.
  • the identification of the parking area can be determined based on the speech-classified text, thereby determining the parking area.
  • the identification of the parking area can be determined based on the frequency of occurrence of the text in the video image.
  • the identification of the parking area may be determined based on the time the text appears in the video image. For example, when the vehicle is driving to the target parking space, the parking area indicated by the pillars around the target parking space is more likely to be the parking area where the target parking space is located. Therefore, the text obtained during the parking process appears in the video. The closer the moment is to the moment when the vehicle enters the target parking space and stops, the greater the confidence that the text can be used as a sign of the parking area. It should be understood that the above methods are only examples, and the embodiments of the present application do not limit this.
  • the method of determining the identification of the parking area based on the text may refer to step S1450 and so on.
  • method S2500 can be combined with method 1400 and the like.
  • the impact of incomplete characters in a single image on identification of signs can be compensated, and signs of other parking areas can also be filtered out based on the moment when the signs appear in the video image, so that it is possible to Improved accuracy of identified parking areas.
  • Figure 29 is a schematic flow chart of an interactive method for intelligent car search provided by an embodiment of the present application.
  • the method 2600 may include some or all of the following steps:
  • the vehicle location information can be used to indicate the target parking space and/or parking area.
  • the user's car-finding operation may be the user's car-finding operation by clicking on physical or virtual buttons, or it may be a car-finding instruction issued through semantic interaction.
  • the user can click on the car-finding virtual button on the mobile phone screen, or can perform voice interaction with the mobile phone, and the user's voice commands such as "I want to find a car", "Where is my vehicle parked", etc. can be detected in the voice interaction to find a car. instruct. It should be understood that the above methods are only examples, and the embodiments of the present application do not limit this.
  • S2615 in response to the user's car search operation, display the first interface, which can be used to display the parking location of the vehicle.
  • the first interface may be displayed on the screen associated with the terminal device.
  • the interface shown in (a) in Figure 18 can be displayed on the mobile phone screen to indicate the parking space and parking area where the vehicle is located.
  • the navigation interface may be displayed.
  • the mobile phone and other terminal devices can display a navigation interface, which can indicate the user's current location and the planned route of the parking lot where the vehicle is located. .
  • the parking area and/or the location of the parking space in the map can be determined.
  • the planned route from the user's current location to the parking area and/or parking space where the vehicle is located can be determined based on the vehicle location information and combined with the map, and the route can be displayed on the navigation interface. It should be understood that the above description of the navigation interface is only an example, and the embodiments of the present application do not limit this.
  • a reminder may be issued.
  • the vehicle can detect the mobile phone within the first range through low-power Bluetooth. After detecting the mobile phone, the vehicle can turn on the lights.
  • Reminders are issued by means of , honking, etc. to facilitate users to find the car. It should be understood that the above methods of detecting terminal devices are only examples for ease of explanation, and are not limited in the embodiments of the present application.
  • method 2600 can be combined with method 1600.
  • the navigation route of the parking space where the vehicle is located and/or the target parking space can be displayed, thereby improving the user's car-finding experience.
  • FIG. 30 is a schematic flowchart of a method for identifying a parking area provided by an embodiment of the present application.
  • the method 2800 may include some or all of the following steps:
  • S2810 Obtain surrounding environment data, which can be used to detect markers in the parking area.
  • a parking area may include one or more parking spaces.
  • the parking area may be area 716 as shown in Figure 8, etc.
  • step S1410 the description of the landmarks in the parking area may refer to step S1410 and so on.
  • S2830 Determine the parking area based on the image of the landmark.
  • the parking area includes a target parking space
  • the target parking space is the parking space where the vehicle is in the parking position.
  • the method may also include: obtaining an image of the first parking space; and determining the location of the target parking space based on the first parking space image.
  • the description of the area keyword may refer to steps S1450, S1830, etc.
  • the method may also include: obtaining parking space indication information, which may be used to indicate the area where the target parking space is located; determining the identification of the target parking space based on the first parking space image may include: based on the parking space information and the image of the first parking space to determine the identity of the target parking space.
  • the description of the parking space indication information may refer to step S1110 and so on.
  • the method may also include: determining one or more parking space information files based on the first parking space image. This; determines the identification of the target parking space based on the confidence level of at least one parking space information text in the one or more parking space information.
  • the description of the parking space information text and confidence level may refer to step S1130 and so on.
  • the vehicle includes a vehicle-mounted display device
  • the method may further include: controlling the vehicle-mounted display device to display an image of the target parking space.
  • the vehicle-mounted display device may be a physical display such as a central control screen, or may be a HUD, etc.
  • the vehicle-mounted display device may be controlled to display the identification of the target parking space.
  • the method may further include: after determining the identification of the target parking space, sending a first message, and the first message may be used to indicate the target parking space.
  • the terminal device can obtain the first message.
  • a terminal device such as a mobile phone can obtain the first message from a vehicle, a network device, etc., so that the logo, image, etc. of the parking space where the vehicle is located can be displayed on its interface to remind the user.
  • determining the parking area based on the image of the landmark may include: determining one or more landmark information based on the image of the landmark; determining the parking area based on the one or more landmark information.
  • a sign indicates that the area indicated by the parking area sign is the parking area.
  • the description of the method of determining the parking area may refer to step S1130 and so on.
  • the method may further include: after determining the parking area, sending a second message, and the second message may be used to indicate the parking area.
  • the description of the second message may refer to step S1450 and so on.
  • the method before obtaining the surrounding environment data, may also include: obtaining voice instructions or user operation information; detecting a parking voice instruction based on the voice instruction, and the parking voice instruction is used to indicate the user's intention to park, When a parking voice command is detected, the first sensor is activated; or, according to the user operation information, the first operation is detected.
  • the first operation can be used to indicate the user's intention to park, and when the first operation information is detected, the third sensor is activated.
  • a sensor controlling the first sensor to collect surrounding environment data.
  • the description about the parking voice instruction, the first operation, etc. may be performed in step S1010 and so on.
  • the method may also include: starting the first sensor when it is determined that the vehicle is located in the parking lot area; and controlling the first sensor to collect the surrounding environment data.
  • the description about the first sensor may refer to steps S940, S1915, etc.
  • the method may also include: when the first state parameter is less than or equal to the first threshold, performing parking lot marker detection; when the parking lot marker is detected, it may be determined that the vehicle is located in the parking lot area. .
  • description about the first state parameter, the first threshold, etc. may refer to step S910 and so on.
  • the parking area is marked with a pillar.
  • the description of the landmarks in the parking area may refer to step S1450 and so on.
  • FIG. 31 is a schematic flow chart of a parking interaction method provided by an embodiment of the present application.
  • the method 2900 may include the following steps:
  • the first area may be a parking area of a parking lot, for example, it may be the parking area mentioned in method 1400, etc., "Area A”, “A-17", “XX Area”, etc. .
  • the first area may be a parking floor of a parking lot.
  • the pitch angle of the vehicle can be recorded in real time, so that the parking floor where the vehicle is located can be determined; for another example, the inter-floor passage and the first intersection between floors that the vehicle passes through can be determined, for example, The first intersection that the vehicle passes through when climbing is recorded as +1, and the first intersection that the vehicle passes through when going downhill is recorded as -1; for another example, when the vehicle is in the passage between floors, the camera sensor can be controlled to collect the image of the passage, and This determines the passage guidance signs (such as "to the underground first floor", ">>>>underground second floor>>>”, etc.), thereby determining the floor that the vehicle will drive into.
  • the passage guidance signs such as "to the underground first floor", ">>>>underground second floor>>>>", etc.
  • the information of the first area may be the environmental information of the first area, for example, the image information of the first area collected according to the on-board sensor of the vehicle, and the image information may be the first area passed by the vehicle while driving.
  • image information for another example, the information of the first area may be information such as the identification of the first area determined based on the image of the first area, such as "Area A”, “A-17", “XX” "Area” and other parking area signs.
  • S2920 When the vehicle enters the second area, obtain information of the second area, and the second area is located in the first area.
  • the second area may also include parking spaces, such as "A106", “A104", and so on.
  • the second area may also include the parking zones, such as parking areas "Area A”, “Area H-17", etc.
  • the first area may be the parking floor
  • the second area may be the parking area
  • S2930 Determine the parking location information of the vehicle based on the information of the first area and the information of the second area.
  • the first area is a parking floor (for example, basement level)
  • the second area is a parking space (for example, A106)
  • the parking location information can be "basement level A106", “basement level - A106", “Parking space A106 on the basement floor”, "B1-A106", etc. It should be understood that the above description of parking location information is only an example for ease of explanation, and the embodiment of the present application does not limit this.
  • the vehicle after the vehicle enters the parking lot, until the vehicle completes parking in the parking space, that is to say, the vehicle enters the parking lot to find a parking space until it completes parking, it can pass through one or more parking floors, and/ Or, one or more parking zones.
  • information about the parking floor and/or parking zone where the vehicle is located can be obtained based on the location of the vehicle.
  • the first area is the parking floor and/or parking area of the parking lot where the vehicle is located
  • the second area may include parking spaces where the vehicle is parked
  • the parking location information may include information about the parking spaces where the vehicle is parked.
  • parking floor information and/or parking zone information may be included in the parking lot.
  • obtaining the information of the second area may include: obtaining a first instruction, the first instruction being used to indicate that the user of the vehicle has parking intention; according to the The first instruction is to obtain the information of the second area.
  • the first instruction may be one or more of a voice instruction, a touch instruction, a key instruction, a gesture instruction, and other instructions.
  • the first instruction may be a voice instruction indicating parking intention such as "I want to park", "automatic parking”, or "enter the parking space”. That is to say, the first instruction may be a parking voice instruction in method 1000;
  • the first instruction can also be an instruction triggered by the user through physical or virtual keys, buttons, etc. that trigger the parking intention. For example, the user can click the virtual button of "automatic parking” on an interactive device such as the central control screen, or press the car button.
  • buttons of the "automatic parking” function in the cabin, etc. users can perform remote parking on mobile phones and other terminal devices, and send the remote parking instructions to the vehicle.
  • the description of the button can refer to step S1020, etc.; for another example, a gesture with parking intention can also be defined, and after the user's gesture instruction is detected, the information of the second area can be obtained.
  • the information of the second area can be obtained after detecting that the vehicle enters the parking state.
  • the vehicle when the vehicle is in a parking lot, when the gear information of the vehicle is detected to be reverse gear, the vehicle can be considered to be in a parking state; for another example, when the vehicle is in a parking lot, when the brake pedal or accelerator pedal is detected to be active.
  • the vehicle speed is controlled within the preset speed (such as 3 kilometers/hour)
  • the vehicle can be considered to be in a parking state; for example, the vehicle can have automatic parking, auxiliary parking and other functions to facilitate user parking.
  • the vehicle when it is detected that the user activates the automatic parking, auxiliary parking and other functions, it can be determined that the vehicle has entered the parking state, etc.; for another example, it can be determined according to the vehicle's control signal, such as CAN signal, Ethernet signal, etc. Enter parking state.
  • the vehicle's control signal such as CAN signal, Ethernet signal, etc. Enter parking state.
  • the parking environment information can be obtained from the time the vehicle enters the parking state to the vehicle completes parking; and the information of the second area can be obtained according to the parking environment information.
  • the vehicle is partially or completely located in a parking space, due to the installation position of the camera, or even after adjusting the angle of the camera, it may not be possible to obtain the image, logo and other information of the parking space.
  • the surrounding environment information during the parking process is obtained, which can reduce the impact of the vehicle's posture on obtaining information in the second area.
  • a first prompt message can be sent.
  • the first prompt message may be used to indicate the parking location.
  • the first prompt message may be sent when it is determined that the vehicle has completed parking. For example, it can be determined that the parking is completed and the first prompt can be sent when it is detected that the user adjusts the gear to parking, pulls the handbrake, confirms the parking position information of the vehicle through the interactive interface, leaves the vehicle or turns off the vehicle, etc. information.
  • parking location request information may be received, and the first prompt message may be sent according to the parking location request information.
  • the parking location request information can be sent by a terminal device such as a mobile phone in response to the user's operation; for another example, the parking location request information can be triggered by a server to obtain the parking location information of the vehicle. The server obtains the parking location. Once the information is retrieved, it can be stored in the cloud.
  • the parking location request information may include the identity information of the requester, and the first prompt message may be sent based on the identity information of the requester. For example, when it is determined that the requester is an unauthorized user based on the identity information, the first prompt message may not be sent; when it is determined that the requester is an authorized user, for example, when the requester is a car owner, a family member of the car owner, etc., for example,
  • This section A prompt message may include the identification of the parking space, the identification of the parking area, the information of the parking floor, the image of the parking area, the image of the parking space, etc.; when the requester is a temporarily authorized user, for example, the first prompt message may Including, the identification of the parking space, the identification of the parking area, and the information of the parking floor. That is to say, the content of the first prompt message can be determined according to the authority of the requester; the request message can also include the request requirement of the requester. , the content of the first prompt message can be determined according to the requester'
  • the method may further include: obtaining image information of the second area at multiple times; determining multiple identification information based on the image information of the second area at multiple times; identification information to obtain the identification of the second area.
  • the identity of the parking space or parking area can be determined based on images of the parking space or parking area at multiple times.
  • a plurality of identification information can be determined based on the image of the parking space, and the identification of the parking space can be determined based on the confidence level of the identification information; for another example, the plurality of identification information can include a incomplete identification (for example, as shown in Figure 6 (shown in (c) and (d)), multiple incomplete signs can be spliced and fused to obtain the identity of the parking space; for another example, the marker of the parking area can be detected, and the image of the marker can be determined based on the image of the marker. Marker information, and thus information such as the identification of the parking area is determined, etc. For descriptions of determining the identification of the parking space and the identification of the parking area, refer to methods 1100, 1400, etc.
  • the vehicle may include a vehicle-mounted display device that controls the vehicle-mounted display device to display the information of the first area when acquiring the information of the first area; and/or controls the vehicle-mounted display device to display the information of the second area when acquiring the information of the second area.
  • the vehicle-mounted display device displays information in the second area.
  • the vehicle-mounted display device such as the central control screen can be controlled to display the logo of the floor where the vehicle is located, the logo of the parking zone, an image containing the logo of the parking zone, and the logo of the parking zone.
  • parking area information, the interface displayed by the vehicle-mounted display device can be updated accordingly; for another example, when the displayed parking area marker contains the identification of the parking area, the display interface can be highlighted with a line frame or the like. , highlighting the signage of the parking area, etc.
  • the pitch angle information of the vehicle can be obtained; and the information of the parking floor is determined based on the pitch angle information of the vehicle.
  • the vehicle posture change after entering the parking lot can be obtained, such as vehicle pitch angle information.
  • a preset threshold such as 18 degrees, 15 degrees, etc.
  • the vehicle can be considered In the passage between floors, for example, when the pitch angle is positive, the vehicle can be considered to be going uphill; when the pitch angle information is negative, the vehicle can be considered to be going downhill. Therefore, the relative position of the floor where the vehicle is located can be determined based on the pitch angle information of the vehicle. changes, thereby determining the floor location where the vehicle is located.
  • the floor location where the vehicle is currently located can be determined as the parking floor, thereby determining the parking floor information; for another example, based on the pitch angle information of the vehicle.
  • sensors such as cameras can be triggered to collect surrounding environment data to identify the entrances and exits of the inter-floor passage, the intersections between the inter-floor passage and the floors connected to it, etc., so that the vehicle continuously passes through multiple connected inter-floor passages.
  • the number of inter-floor passages passed through can also be accurately obtained, and the current floor location of the vehicle can be determined from this.
  • the inter-floor passage can be connected to the floors of the parking lot, and signs, etc., can be hung or posted in the inter-floor passage, and the floor that the vehicle will drive into can be determined based on the signs. For example, when it is determined that the vehicle is in the passage between floors, an image of the passage between floors can be obtained. According to the image, one or more identification information can be obtained, such as " ⁇ passage underground floor ⁇ ", “ ⁇ ⁇ xxx floor ⁇ ", “ ⁇ XXX floor”, " ⁇ ", " ⁇ ”, etc.
  • the channel guide identification used to indicate the information of adjacent floors can be determined, such as the above " ⁇ passage to the underground floor ⁇ ", “ ⁇ xxx floor ⁇ ”, “ ⁇ XXX floor”, among which "leading to the underground floor” and “xxx floor” can represent adjacent
  • " ⁇ " and “ ⁇ ” can represent the positional relationship between the floor and the passage between the floors, so that the information of the floor that the vehicle will drive into can be determined based on the passage guidance mark.
  • Embodiments of the present application also provide a device for implementing any of the above methods.
  • a device is provided that includes units for implementing each step performed by a chip, a vehicle, a vehicle-machine system, etc. in any of the above methods.
  • Figure 32 is a schematic structural diagram of a device for determining that a vehicle is located in a parking area provided by an embodiment of the present application.
  • the device 3000 may include an acquisition module 3010 and a processing module 3020.
  • the acquisition module 3010 is used to acquire the first status parameter.
  • the first status parameter may include the signal quality of the GNSS signal, vehicle speed, and the distance between the vehicle and the parking lot entrance. At least one item of , may also include other parameters, such as latitude and longitude information, etc.
  • description about the first state parameter may refer to the method 900 or the like.
  • the acquisition module 3010 can also be used to acquire data collected by sensing sensors, which can be used for parking lot marker detection.
  • the data collected by the sensing sensor can be obtained from a sensing sensor or other device, or it can be data collected by multiple sensors that has been processed by filtering, fusion, feature extraction, etc.
  • the processing module 3020 is configured to detect the parking lot marker when the first state parameter is less than or equal to the first threshold; and is also configured to determine that the vehicle is located in the parking lot area when the parking lot marker is detected.
  • the first threshold for can be determined according to the first state parameter.
  • the first threshold may include a threshold related to the signal quality of the GNSS signal, and so on.
  • the processing module 3020 can detect parking lot markers based on data collected by perception sensors.
  • the parking lot marker may be an object that does not move in the parking lot area.
  • the description about detecting parking lot markers may refer to steps S920 to S940 and so on.
  • FIG. 33 is a schematic structural diagram of a device for activating a sensor provided by an embodiment of the present application.
  • the device 3100 may include an acquisition module 3110 and a processing module 3120.
  • the acquisition module 3110 can be used to acquire voice instructions or user operation information.
  • the processing module 3120 may be used to: detect the parking voice command according to the voice command, activate one or more perception sensors when the parking voice command is detected, or detect the first operation according to the user operation information, the first operation is used to indicate The user has parking intention, and when the first operation is detected, one or more sensing sensors are activated.
  • step S1010 For example, regarding the parking voice instruction and the description of the first operation, reference may be made to step S1010 and so on.
  • the acquisition module 3110 may also be used to acquire data collected by the one or more sensing sensors.
  • the processing module 3120 may also be used to determine the environment in which the vehicle is parked based on the data collected by the sensing sensor.
  • the processing module 3120 can determine the identity of the target parking space based on the image; when the data includes an image of a parking area landmark, process Module 2031 can determine the parking area based on the image, such as determining the identification of the parking area, etc.
  • the device 3100 can be used to implement the above method 1000.
  • FIG. 34 is a schematic structural diagram of a device for identifying a parking space identification provided by an embodiment of the present application.
  • the device 3200 may include an acquisition module 3210 and a processing module 3220.
  • the acquisition module 3210 can be used to acquire the first parking space image; the processing module 3220 can be used to determine the identification of the target parking space according to the first parking space image.
  • the first parking space image may include at least one parking space including the target parking space.
  • the acquisition module 3210 can also be used to: obtain parking space indication information, which can be used to indicate the area where the target parking space is located; the processing module 3220 can be specifically used to: obtain the parking space indication information and the first parking space indication information.
  • Parking space image to determine the identity of the target parking space. For example, when the image includes multiple parking spaces including a target parking space, the target parking space in the image can be determined based on the parking space indication information, thereby determining the identity of the target parking space.
  • the processing module 3220 may also be used to: determine a first ratio according to the first parking space image, and the first ratio may be used to indicate the proportion of the target parking space in the first parking space image; and process Module 3220 may be specifically configured to determine the identity of the target parking space based on the first parking space image and the first ratio.
  • the image as shown in (a) in Figure 13 can be obtained, and by determining the proportions of multiple parking spaces in the image, such as as shown in (b) in Figure 13, it is determined that the target parking space is (a in Figure 13 ), the identification of the target parking space can be determined; for another example, when the images of the multiple parking spaces are collected by a fisheye camera, due to possible distortion, etc., the image can be distorted After correction and other processing, the first ratio is determined to determine the target parking space. It should be understood that the above method for determining the image of the target parking space is only an example, and the embodiments of the present application do not limit this.
  • the processing module 3220 may be specifically configured to determine one or more parking space information texts based on the first parking space image; and determine the identification of the target parking space based on the confidence level of the parking space information text.
  • the acquisition module 3210 can be used to obtain images of the target parking space at multiple times, and the processing module 3210 can be used to determine the identity of the target parking space based on the images of the target parking space at multiple times.
  • the camera senses
  • the device can collect a video of the target parking space within a first period of time.
  • the video can include images at multiple times.
  • the multiple images can be combined to determine the identity of the target parking space, thereby avoiding identification caused by incomplete identification in a single image. Error can improve the accuracy of the identified logo.
  • the first time period can be any time period, such as 5 seconds, 13 seconds, etc. This is not limited in the embodiments of the present application.
  • the processing module 3220 can also be used to control the vehicle-mounted display device to display the image of the target parking space.
  • a display such as a central control screen can display an interface as shown in (a) in Figure 13 to indicate the target parking space; for another example, only the other images of the target parking space can be displayed on the vehicle-mounted display device.
  • the part where the logo is located, that is, only the image of the logo of the target parking space can be displayed; for another example, after the logo of the target parking space is determined, the logo of the target parking space can be displayed on a display such as the central control screen, for example, as shown in Figure 14 interface.
  • the above description of displaying the image and/or logo of the target parking space is only an example for ease of explanation, and the embodiments of the present application do not limit this.
  • the device 3200 may further include a sending module 3230, which may be used to send a first message, and the first message may be used to indicate the target parking space.
  • a sending module 3230 which may be used to send a first message, and the first message may be used to indicate the target parking space.
  • the device 3200 can be used to implement the method 1100, and the description of the target parking space, the identification of the target parking space, etc. may refer to the method 1100 and so on.
  • FIG. 35 is a schematic structural diagram of a device for identifying a parking area provided by an embodiment of the present application.
  • the device 3300 may include an acquisition module 3310 and a processing module 3320.
  • the acquisition module 3310 can be used to acquire surrounding environment data, which can be used to detect markers in the parking area; and can also be used to acquire an image of the marker when the marker is detected.
  • the processing module 3320 may be used to determine the parking area based on the image of the landmark.
  • the processing module 3320 can also detect markers in the parking area based on the surrounding environment data.
  • the processing module 3320 may be used to determine the parking area identification based on the image of the landmark in the parking area.
  • the processing module 3320 may be configured to determine one or more texts based on the image of the landmark, and determine the identification of the parking area based on the confidence of the text.
  • step S1450 For the description of determining the parking area identification according to the confidence level of the text, reference may be made to step S1450 and so on.
  • the acquisition module 3310 can also be used to obtain the identification of the target parking space.
  • the identification of the target parking space can include a regional keyword, and the processing module 3320 can be used to determine based on the regional keyword and the image of the landmark.
  • the parking area can be used to obtain the identification of the target parking space.
  • the processing module 3320 can determine the identification of the parking area based on the multiple texts combined with the area keyword.
  • the description of the area keyword may refer to step S1450 and so on.
  • the processing module 3320 when detecting markers in multiple parking areas, may determine the location of the parking area to which the target parking space belongs based on the distance between the multiple markers and the target parking space. landmark.
  • the distance between the multiple markers and the target parking space may be an actual distance or a virtual length.
  • it can be based on the image of the AVM system to determine the distance between multiple parking area markers and the target parking space on the image; for another example, it can be based on the data collected by the radar to determine the actual distance between the multiple markers and the target parking space. distance. It should be understood that the above examples are only illustrative and are not limited by the embodiments of the present application.
  • the acquisition module 3310 can be used to obtain images of landmarks in the parking area at multiple moments
  • the processing module 3320 can be used to determine the parking area based on the images of landmarks in the parking area at multiple moments.
  • logo For example, during the parking process of the vehicle, the camera sensor can collect video images of the landmarks in the parking area within a period of time, and the identification of the parking area can be determined based on the images of the landmarks in the parking area at multiple times in the video image. This can avoid recognition errors caused by incomplete logos in a single image and can improve the accuracy of the recognized logos.
  • the processing module 3320 can also be used to control the vehicle-mounted display device to display the logo of the parking area, or can also be used to display the image of the landmark of the parking area.
  • the device 3300 may also include a sending module 3330.
  • the sending module 3330 may be used to send a second message, and the second message may be used to indicate the parking area.
  • the device 3300 can be used to implement the method 1400.
  • the method 1400 can be used to implement the method 1400.
  • Figure 36 is a schematic structural diagram of an interactive device for indicating a parking location provided by an embodiment of the present application.
  • the device 3400 An acquisition module 3410 and a display module 3420 may be included.
  • the acquisition module 3410 can be used to obtain vehicle location information.
  • vehicle location information can be used to indicate target parking spaces and/or parking areas.
  • the display module 3420 can be used to display a first interface, and the first interface can be used to display the parking position of the vehicle.
  • the display module 3420 may be used to display a parking area logo.
  • the display module 3420 may be used to display the identification of the target parking space.
  • the display module 3420 may be used to display images of landmarks in the parking area.
  • the display module 3420 can be used to display an image of the target parking space.
  • the display module 3420 can display a car-finding navigation route, which can indicate a navigation route from the user's current location to the vehicle parking location.
  • FIG. 37 is a schematic structural diagram of another device for identifying a parking area provided by an embodiment of the present application.
  • the device 3500 may include an acquisition module 3510 and a processing module 3520, and the parking area may include multiple parking spaces.
  • the acquisition module 3510 can be used to acquire surrounding environment data, which can be used to detect markers in the parking area; and can also be used to acquire an image of the marker when the marker is detected.
  • the processing module 3520 may be used to determine the parking area based on the image of the landmark.
  • the processing module 3520 can also detect markers in the parking area based on the surrounding environment data.
  • the acquisition module 3510 can also be used to acquire a first parking space image, the first parking space image includes at least one parking space, and the at least one parking space includes a target parking space; the processing module 3520 can also be used to obtain a first parking space image. , determine the identification of the target parking space according to the first parking space image, and the identification of the target parking space includes the area keyword; the processing module 3520 can be specifically used to determine the parking area according to the image of the landmark and the area keyword.
  • the first parking space image includes at least one parking space, which may be a part of one or more parking spaces.
  • the image may include three parking spaces, where the image includes part of the parking space "A105", part of the occupied parking space, and the target parking space "A104" the entire area; in some cases, the first parking space image may also include only part of the target parking space.
  • the first parking space image may include multiple parking spaces, and the identity of the parking space may be determined based on the first parking space image.
  • the parking space identifiers "A104" and “A105” can be determined. Since they include the same text "A", the area keyword can be considered to be "A”; for another example, After determining the target parking space, the identification of the target parking space can be determined, such as "A104".
  • the image of the landmark in the parking area such as (a) in Figure 9, the "Area”, “Safety Channel", " ⁇ " and other multiple texts.
  • the acquisition module 3510 can also be used to: obtain parking space indication information, which can be used to indicate the area where the target parking space is located; the processing module 3520 can be specifically used to: obtain the parking space indication information and the first parking space indication information. Parking space image to determine the identity of the target parking space.
  • the description of the parking space indication information may refer to step S1110 and so on.
  • the parking space indication information and the first parking space image it is possible to determine the portion of the first parking space image.
  • the processing module 3520 can also be used to determine a first ratio according to the first parking space image.
  • the first ratio can be used to indicate the proportion of the target parking space in the first parking space image.
  • This processing Module 3520 may be specifically configured to determine the identity of the target parking space based on the first parking space image and the first ratio.
  • the proportion of at least one parking space in the image can be determined based on the first parking space image, and the target parking space can be determined based on the proportion, so that the identity of the target parking space can be determined.
  • the proportions of multiple parking spaces such as A104 and A105 in the image can be determined.
  • the parking space with the largest proportion can be determined as the target parking space, so that when there is no parking space indication,
  • the target parking space is determined, so that the identification of the target parking space can be determined; for another example, when the image collected by the camera is distorted, the distortion correction process can be performed on the image, and then the proportion of multiple parking spaces is determined. This identifies the target parking space.
  • the above description of the first ratio is only an example for convenience of explanation, and the embodiments of the present application do not limit this.
  • the processing module 3520 may be configured to determine one or more parking space information texts based on the first parking space image; and determine the confidence level of at least one parking space information text in the one or more parking space information. The identification of the target parking space.
  • one or more texts may be determined based on the first parking space image, which may be called parking space information text, and the identification of the target parking space may be determined based on the confidence level of the parking space information text.
  • the parking space may also include other information, such as "dedicated parking space", "no occupation”, etc.
  • Multiple texts may be obtained through OCR technology based on the first parking space image.
  • the identification of the target parking space can be determined based on the confidence levels of the multiple texts.
  • the above description about the confidence level may refer to step S1130 and so on.
  • the vehicle includes a vehicle-mounted display device
  • the processing module 3520 can also be used to control the vehicle-mounted display device to display an image of the target parking space.
  • a message may be sent to the vehicle-mounted display device to instruct the vehicle-mounted display device to display the image of the target parking space, or a message may be sent to other control devices to instruct other control devices to control the vehicle-mounted display device to display the image of the target parking space; and For example, only the image of the target parking space may be displayed, or multiple parking spaces including the target parking space may be displayed in the image.
  • the target parking space in the image may be highlighted in the form of a wireframe; for another example,
  • the displayed image may include a partial area of the target parking space, such as the area where its logo is located, or may display the logo of the target parking space in the form of text. It should be understood that the above method of displaying the target parking space on the vehicle-mounted display device is only an example, and is not limited in this embodiment of the present application.
  • the device further includes a sending module 3530.
  • the sending module 3520 can be used to, after determining the identification of the target parking space, send a first message.
  • the first message can be used to indicate the target parking space.
  • step S1130 For example, regarding the description of the first message, reference may be made to step S1130 and so on.
  • the processing module 3520 is specifically configured to: determine one or more landmark information based on the image of the landmark; determine the parking area identification based on the one or more landmark information, and determine the parking area identification. The area indicated is the parking area.
  • one or more landmark information may be determined based on images of landmarks in the parking area, and the parking area identification may be determined based on the landmark information.
  • the identification of the parking area can be determined based on the confidence of the multiple texts; for another example, the identification of the parking area can be combined with the area in the identification of the target parking space based on the multiple texts. Keyword to determine parking area identification. It should be understood that the above method of determining the parking area identification is only an example for ease of explanation, and is not limited in this embodiment of the present application.
  • the method of determining the parking area identification may refer to step S1450 and so on.
  • the processing module 3520 may also be used to control the vehicle-mounted display device to display the parking area identification.
  • the vehicle-mounted display device can be controlled to display an image of a parking area landmark, and the image can include the parking area identification.
  • the parking area identification can be highlighted in a line frame, color, etc., or it can be in the parking area.
  • the text of the parking area sign is displayed on the vehicle-mounted display device. It should be understood that the above method of displaying parking area identification is only an example, and the embodiment of the present application does not limit this.
  • the sending module 3520 may also be used to send a second message after determining the parking area, and the second message may be used to indicate the parking area.
  • the description of the second message may refer to step S1450 and so on.
  • the acquisition module 3510 can be used to obtain voice instructions or user operation information; the processing module 3520 can also be used to detect parking voice instructions based on the voice instructions.
  • the voice command can be used to indicate that the user has an intention to park, and when the parking voice command is detected, the first sensor is activated; or, based on the user operation information, the first operation is detected, and the first operation can be used to indicate that the user has an intention to park.
  • the first sensor is activated; and the first sensor is controlled to collect surrounding environment data.
  • the description of the parking voice instruction and the first operation may refer to step S1010 and so on.
  • the processing module 3520 before acquiring the surrounding environment data, can also be used to: start the first sensor when it is determined that the vehicle is located in the parking lot area; and control the first sensor to collect the surrounding environment data.
  • the acquisition module 3510 can also be used to obtain the first status parameter; the processing module 3520 can be used to perform parking lot marker detection when the first status parameter is less than or equal to the first threshold; When a parking lot marker is detected, it can be determined that the vehicle is in the parking lot area.
  • the first state parameter may include at least one of the distance between the vehicle and the parking lot entrance, the vehicle speed, and the signal quality of the GNSS signal.
  • descriptions about the first state parameters, parking lot markers, etc. may refer to step S910 and so on.
  • the parking area is marked with a pillar.
  • FIG. 38 is a schematic structural diagram of a parking interaction device provided by an embodiment of the present application.
  • the device 3600 may include: an acquisition module 3610, configured to acquire the information of the first area when the vehicle enters the first area; and acquire the information of the second area when the vehicle enters the second area, and the second area is located Within the first area, the processing module 3620 is configured to determine the parking location information of the vehicle based on the information of the first area and the information of the second area.
  • the first area may be a parking floor and/or parking area of a parking lot; the second area may include a parking space where the vehicle is parked; the parking location information includes information about the parking space where the vehicle is parked, and , information about the parking floor and/or information about the parking zone.
  • first region and the second region may refer to method 2900 and the like.
  • the acquisition module 3610 may be specifically configured to: obtain a first instruction, which is used to indicate that the user of the vehicle has parking intention; and obtain information of the second area according to the first instruction. .
  • description about the first instruction may refer to method 2900 and so on.
  • the acquisition module 3610 may be configured to: acquire the information of the second area when it is detected that the vehicle enters the parking state. For example, it can be determined whether the vehicle has entered the parking state according to the vehicle's control signal. For example, when it is detected that the vehicle's gear position is adjusted to reverse gear, it can be determined that the vehicle has entered the parking state, and so on.
  • the parking status please refer to method 2900. For the sake of simplicity, it will not be described again here.
  • the acquisition module 3610 can also be used to: acquire parking environment information from when the vehicle enters the parking state to when the vehicle completes parking; specifically, the acquisition module 3610 can be used to: according to the parking state Environmental information, obtain the information of the second area.
  • the parking brake is triggered, it is detected that the user confirms the parking position information of the vehicle through the interactive interface, the user is not detected in the cockpit, and it is detected that the vehicle is powered off. Or the vehicle stalls, etc., the parking process can be determined to be completed.
  • the description of obtaining the identification of the parking space may refer to step S1130 and so on, and the description of obtaining the identification of the parking zone may refer to step S1450 and so on.
  • the device may further include: a sending module 3630, which may be configured to send a first prompt message, where the first prompt message includes the parking location information of the vehicle.
  • a sending module 3630 which may be configured to send a first prompt message, where the first prompt message includes the parking location information of the vehicle.
  • the sending module 3630 may be specifically configured to send the first prompt message when it is detected that the vehicle has completed parking.
  • the device may also include: a receiving module 3640, which may be used to receive parking location request information, which may be used to request the parking location information of the vehicle; and the sending module 3630, which may specifically use At: send the first prompt message according to the parking location request information.
  • a receiving module 3640 which may be used to receive parking location request information, which may be used to request the parking location information of the vehicle
  • the sending module 3630 which may specifically use At: send the first prompt message according to the parking location request information.
  • the processing module 3620 can also be used to control the sending module 3630 to send the first prompt message according to the parking location request information.
  • the processing module 3630 can determine to establish a connection with the electronic device that sends the message based on the parking location request information; for another example, the processing module 3630 can determine the electronic device that sends the parking location request information based on the parking location request information.
  • the sending module 3630 can be controlled to send the first prompt message, and when it is determined that the electronic device sending the parking location request information is a terminal device such as a mobile phone.
  • the user identity information of the electronic device can be authenticated to confirm the permission information of the requester, etc.
  • the parking location request information carries the requester's identity information
  • the sending module 3630 may be specifically configured to: send the first prompt message based on the requester's identity information.
  • the processing module 3620 may be used to determine the content of the first message based on the requester's identity information. For example, when it is determined that the requester is an unauthorized user, the sending module can be controlled not to send the first prompt message; for another example, the information carried in the first prompt message can be determined according to the authority of the requester, regarding the third prompt message.
  • the description of a prompt message can refer to method 2900 and so on.
  • the acquisition module 3610 can also be used to: acquire image information of the second area at multiple times; the processing module can also be used to: obtain image information based on the multiple times of the second area.
  • the image information determines a plurality of identification information; the acquisition module 3610 may be specifically configured to: obtain the identification of the second area according to the plurality of identification information, and the information of the second area includes the identification of the second area.
  • the plurality of identification information may include at least two first incomplete identifications, and the first incomplete identification includes part of the identification of the second area.
  • the acquisition module 3610 may be used to: Multiple first defective identifiers among the two first defective identifiers are spliced and fused to obtain the identifier of the second region.
  • the acquisition module 3610 may be configured to: acquire the identity of the second area based on the confidence of at least one of the plurality of identity information.
  • the acquisition module 3610 can be used to acquire the image information of the second area
  • the processing module 3620 can be used to identify one or more identification information according to the image information, and can perform processing on the incomplete identification information.
  • the identity of the second area can be determined from the identity information based on the confidence level of the identity information. For example, to determine the identification of the target parking space and the description of the identification of the parking area based on images of the target parking space and the parking area at multiple times, reference may be made to methods 2400, 2500, 2900, etc.
  • the acquisition module 3610 may also be used to: when the vehicle enters the first area, acquire a first trigger condition.
  • the first trigger condition is used to indicate that the information of the first area is acquired. Conditions that need to be satisfied; the acquisition module 3610 can be specifically used to: acquire the information of the first area when the first trigger condition is satisfied.
  • the acquisition module 3610 can also be used to: when it is determined that the vehicle enters the parking lot, obtain the surrounding environment information of the vehicle, and the surrounding environment information is used to obtain the information of the first area, and/or information for this second area.
  • the processing module 3620 can also be used to: detect markers in the first area based on data collected by sensors on the vehicle; specifically, the acquisition module 3610 can be used to: based on the data collected in the first area. Marker to obtain the information of the first area.
  • the landmarks of the first area may be parking lot pillars, parking lot interior walls, etc.
  • the landmarks refer to method 1400 and so on.
  • the acquisition module 3610 may be configured to determine one or more marker information based on the image information of the marker in the first area; and based on the confidence of at least one marker information in the one or more marker information. degree to obtain the information of the first area.
  • the vehicle may include a vehicle-mounted display device
  • the processing module 3620 may also be used to: when acquiring the information of the first area, control the vehicle-mounted display device to display the information of the first area; and/or, when obtaining the information of the first area;
  • the vehicle-mounted display device is controlled to display the information of the second area.
  • the processing module may directly control the vehicle-mounted display device to display the information of the first area and the second area, or the processing module may control the display of the vehicle-mounted display device through other control devices by sending an instruction message. This application will No restrictions.
  • the first area includes a parking floor.
  • the acquisition module 3610 can also be used to obtain the pitch angle information of the vehicle. Specifically, the acquisition module 3610 can be used to determine the parking floor according to the pitch angle information of the vehicle. information.
  • the first area includes a parking floor, which can be connected to an inter-floor passage in the parking lot.
  • the acquisition module 3610 can also be used to: when it is determined that the vehicle is in the inter-floor passage, obtain the passage guide identification, the The passage guide mark includes information about the floors connected to the passage between the floors; the acquisition module can be used to obtain the information of the parking floor according to the channel guide mark.
  • the first marker when the first area includes a parking floor, can be an inter-floor passage. Vehicles traveling in the inter-floor passage can enter from one floor to another.
  • the first marker can also be an inter-floor passage.
  • the intersection with the floor, the intersection can be a T-intersection, a crossroads, etc.
  • the operations/behaviors such as the acquisition, storage, utilization, and processing of user information involved in this application are all used in compliance with local laws and regulations.
  • the operations such as obtaining, storing, utilizing, and processing user information involved in this patent represent operations with the consent of the individual.
  • each unit in the above device is only a division of logical functions. In actual implementation, it can be fully or partially integrated into a physical entity, or it can also be physically separated.
  • the unit in the device can be implemented in the form of a processor calling software; for example, the device includes a processor, the processor is connected to a memory, instructions are stored in the memory, and the processor calls the instructions stored in the memory to implement any of the above methods.
  • the processor is, for example, a general-purpose processor, such as a CPU or a microprocessor
  • the memory is a memory within the device or a memory outside the device.
  • the units in the device can be implemented in the form of hardware circuits, and some or all of the functions of the units can be implemented through the design of the hardware circuits, which can be understood as one or more processors; for example, in one implementation,
  • the hardware circuit is an ASIC, which realizes the functions of some or all of the above units through the design of the logical relationship of the components in the circuit; for another example, in another implementation, the hardware circuit can be implemented through PLD, taking FPGA as an example.
  • the processor is a circuit with signal processing capabilities.
  • the processor may be a circuit with instruction reading and execution capabilities, such as a CPU, a microprocessor, a GPU, or DSP, etc.; in another implementation, the processor can realize certain functions through the logical relationship of the hardware circuit. The logical relationship of the hardware circuit is fixed or can be reconstructed.
  • the processor is a hardware circuit implemented by ASIC or PLD. For example, FPGA.
  • the process of the processor loading the configuration file and realizing the hardware circuit configuration can be understood as the process of the processor loading instructions to realize the functions of some or all of the above units.
  • it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as NPU, TPU, DPU, etc.
  • each unit in the above device may be one or more processors (or processing circuits) configured to implement the above method, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA , or a combination of at least two of these processor forms.
  • processors or processing circuits
  • each unit in the above device may be integrated together in whole or in part, or may be implemented independently. In one implementation, these units are integrated together and implemented as a system-on-a-chip (SOC).
  • SOC may include at least one processor for implementing any of the above methods or implementing the functions of each unit of the device.
  • the at least one processor may be of different types, such as a CPU and an FPGA, or a CPU and an artificial intelligence processor. CPU and GPU etc.
  • each operation performed by the above-mentioned acquisition module 3610 and processing module 3620 can be performed by the same processor, or can also be performed by different processors, for example, by multiple processors respectively. implement.
  • one or more processors can be connected to one or more sensors in the sensing system 120 in Figure 1 to obtain surrounding environment information from one or more sensors; in another example, one or more processors can According to the processed surrounding environment information, the information of the first area and the information of the second area are determined.
  • the processor that determines the information of the first area and the second area and the processor that obtains the surrounding environment information can be the same processor.
  • the processor can also be different processors. Multiple processors can be connected through internal circuits, and messages can be transmitted through internal circuits.
  • the one or more processors described above may be processors provided in a vehicle machine, or may also be processors provided in other vehicle-mounted terminals.
  • the above-mentioned device 3600 may be a chip provided in a vehicle machine or other vehicle-mounted terminal.
  • the above-mentioned device 3600 may be the computing platform 150 as shown in FIG. 1 provided in the vehicle. For the sake of brevity, no examples will be given here.
  • Embodiments of the present application also provide a device, which includes a processing unit and a storage unit, where the storage unit is used to store instructions, and the processing unit executes the instructions stored in the storage unit, so that the device performs the method performed in the above embodiments or step.
  • the above-mentioned processing unit may include at least one processor, and the above-mentioned storage unit may be a memory, wherein the memory may be a storage unit (for example, register, cache, etc.) within the chip, or may be a storage unit outside the chip in the vehicle. unit (e.g., read-only memory, random access memory, etc.).
  • the above-mentioned storage unit may be a memory, wherein the memory may be a storage unit (for example, register, cache, etc.) within the chip, or may be a storage unit outside the chip in the vehicle. unit (e.g., read-only memory, random access memory, etc.).
  • the above-mentioned processing unit may be the processor 151-15n shown in Figure 1.
  • FIG. 39 is an example structural diagram of a device 5000 provided by the embodiment of the present application.
  • Apparatus 5000 includes a processor 5002, a communication interface 5003, and a memory 5004.
  • One example of device 5000 is a chip.
  • Another example of apparatus 5000 is a computing device.
  • the processor 5002, the memory 5004 and the communication interface 5003 can communicate through a bus.
  • Executable code is stored in the memory 5004, and the processor 5002 reads the executable code in the memory 5004 to execute the corresponding method.
  • the memory 5004 may also include an operating system and other software modules required for running processes.
  • the executable code in the memory 5004 is used to implement the methods shown in FIGS. 10 to 31 , and the processor 5002 reads the executable code in the memory 5004 to execute the methods shown in FIGS. 10 to 31 .
  • the processor 5002 may be a CPU.
  • Memory 5004 may include volatile memory (VM), such as random access memory.
  • VM volatile memory
  • the memory 5004 may also include non-volatile memory (NVM), such as read-only memory, flash memory, hard disk drive (HDD) or solid state disk (SSD).
  • NVM non-volatile memory
  • the vehicle 6000 may include the device shown in any one of the above-mentioned FIGS. 32 to 35 , or FIGS. 37 to 39 .
  • FIG. 40 shows a schematic diagram of a system 7000 provided by an embodiment of the present application.
  • the system 7000 may include a vehicle 7100 and an electronic device 7200.
  • the vehicle 7100 may include the above-mentioned FIG. 32
  • the electronic device 7200 can be a terminal device such as a mobile phone in the above method embodiment.
  • the vehicle 7100 can The electronic device 7200 may be used to receive the first prompt message, and control the display of the parking location of the vehicle according to the first prompt message. Location.
  • the display device associated with the electronic device 7200 can display the parking position of the vehicle.
  • the electronic device is an electronic device with a display screen such as a mobile phone, smart watch, or tablet computer
  • the parking position of the vehicle can be displayed on the display screen; for example, when the electronic device is connected to an external display device, the parking position of the vehicle can be displayed on the display screen.
  • the external display device may be controlled to display the parking position of the vehicle.
  • the electronic device 7200 can also be used to send parking location request information
  • the vehicle 7100 can be used to receive the parking location request information, and can be used to send the first prompt message according to the parking location request information.
  • Embodiments of the present application also provide a computer program product.
  • the computer program product includes: computer program code.
  • the computer program code When the computer program code is run on a computer, it causes the computer to execute the above method 200 and any possible implementation thereof. .
  • Embodiments of the present application also provide a computer-readable medium.
  • the computer-readable medium stores program code.
  • the computer program code When the computer program code is run on a computer, it causes the computer to execute the above method 200 and any possible implementation thereof. Way.
  • the computer-readable medium may include a USB flash drive, a mobile hard disk, a read-only memory, a random access memory, a magnetic disk or an optical disk, and other media that can store program codes. This is not limited in the embodiments of the present application.
  • the computer-readable medium can store instructions of the above-mentioned acquisition module 3610 and/or the processing module 3620. When the program code is run on the computer, the computer can be used to perform the operations performed by the above-mentioned acquisition module 3610 and/or the processing module 3620. .
  • first”, second and other words are used to distinguish the same or similar items with basically the same functions and functions. It should be understood that the terms “first”, “second” and “nth” There is no logical or sequential dependency, and there is no limit on the number or execution order. For example, “first message” and “second message” are only used for distinction and do not mean that the priorities of “first message” and “second message” are different.
  • the size of the sequence number of each process does not mean the order of execution.
  • the execution order of each process should be determined by its function and internal logic, and should not be used in the implementation of the embodiments of the present application.
  • the process constitutes any limitation.
  • determining B based on A does not mean determining B only based on A, and B can also be determined based on A and/or other information.
  • the size of the sequence numbers of the above-mentioned processes does not mean the order of execution.
  • the execution order of each process should be determined by its functions and internal logic, and should not be used in the embodiments of the present application.
  • the implementation process constitutes any limitation.
  • a component may be, but is not limited to, a process, a processor, an object, an executable file, a thread of execution, a program and/or a computer running on a processor.
  • applications running on the computing device and the computing device may be components.
  • One or more components can reside in a process and/or thread of execution and a component can be localized on one computer and/or distributed between 2 or more computers. Additionally, these components can execute from various computer-readable media having various data structures stored thereon.
  • a component may, for example, be based on a signal having one or more data packets (eg, data from two components interacting with another component, a local system, a distributed system, and/or a network, such as the Internet, which interacts with other systems via signals) Communicate through local and/or remote processes.
  • data packets eg, data from two components interacting with another component, a local system, a distributed system, and/or a network, such as the Internet, which interacts with other systems via signals
  • the disclosed systems, devices and methods can be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components may be combined or can be integrated into another system, or some features can be ignored, or not implemented.
  • the coupling or direct coupling or communication connection between each other shown or discussed may be through some interfaces, and the indirect coupling or communication connection of the devices or units may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in each embodiment of the present application can be integrated into one processing unit, each unit can exist physically alone, or two or more units can be integrated into one unit.
  • the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium.
  • the technical solution of the present application is essentially or the part that contributes to the existing technology or the part of the technical solution can be embodied in the form of a software product.
  • the computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of this application.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory, random access memory, magnetic disk or optical disk and other various media that can store program codes.

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Abstract

一种停车交互的方法、装置及系统，该方法包括：在车辆进入第一区域时，获取该第一区域的信息（S2910）；在该车辆进入第二区域时，获取该第二区域的信息，该第二区域位于该第一区域内（S2920）；根据该第一区域的信息和该第二区域的信息，确定该车辆的停车位置信息（S2930）。该方法能够根据车辆所处的位置，获取环境信息，进而确定车辆的停车位置，用户可以无感获知车辆所在的停车位置，提高用户寻车的使用体验。

Description

一种停车交互的方法、装置及系统
本申请要求于2022年7月1日提交中国专利局、申请号为202210769908.3、申请名称为“一种停车交互的方法、装置及系统”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。
技术领域
本申请实施例涉及车辆技术领域，并且更具体地，涉及一种停车交互的方法、装置及系统。
背景技术
目前，随着智能汽车的高速发展，人们对于大型地下停车场找车的需求也越来越强烈。但是大型停车场的地形复杂，部分地下停车场的全球定位系统(global positioning system，GPS)信号强度较弱，无法精确定位汽车位置，用户往往只能通过手动拍照记录的方式来辅助车辆的寻找。而用户常常会忘记拍摄，用户无法快速、准确找到车辆停放位置。
发明内容
本申请实施例提供一种停车交互的方法、装置及系统，在车辆进入停车区域时，获取停车区域的信息，确定车辆的停车位置，便于提高用户寻车的使用体验。
第一方面，提供了一种停车交互的方法，该方法包括：在车辆进入第一区域时，获取该第一区域的信息；在该车辆进入第二区域时，获取该第二区域的信息，该第二区域位于该第一区域内；根据该第一区域的信息和该第二区域的信息，确定该车辆的停车位置信息。
示例性地，停车场可以具有多个层次的区域划分，以便于管理。例如，室内停车场可以包括多个停车楼层(比如地下一层、地下二层、“B1层”、三层，等等)，停车楼层可以包括一个或多个停车分区(比如“A区”、“B区”、“B-17”、“H-10-2”、“xx区”等等)，在同一个停车楼层内，或者同一个停车分区内，可以包括多个停车位(比如“A106”、“W237”、“0145”等等)；类似的，室外停车场也可以包括多个停车分区和多个停车位，为了简洁，此处不再赘述。
示例性地，第一区域的信息可以是第一区域的环境信息，例如根据车辆的车载传感器采集到第一区域的图像信息，该图像信息可以是在车辆行驶过程中所经过的第一区域的图像信息。示例性地，车辆在进入停车场后，直至该车辆在停车位上完成停车，也就是说，车辆进入停车场寻找车位，直至完成停车(也称泊车)的过程中，可以经过一个或多个停车楼层，和/或，一个或多个停车分区，在该过程中，可以根据车辆的位置，获取车辆所处的停车楼层和/或停车分区的信息。例如，在车辆进入停车场至完成停车的过程中，比如，车辆可以通过车载传感器获取车姿变化，例如，车辆的俯仰角、车辆的位置变化等，进而可以根据车辆的俯仰角变化，确定车辆所在楼层的相对变化(比如，可以根据车辆的俯仰角，确定车辆上坡、下坡所途经的楼层间通道的个数，确定车辆所在楼层的相对变化，以确定车辆当前所处的楼层位置；又比如，可以根据车辆的俯仰角，结合车辆的行驶路径、车辆的攀升高度，确定楼层的相对变化，以确定车辆当前所处的楼层位置，等等)，又比如，可以根据车辆所途经的楼层间通道的标识信息，确定车辆所在的楼层(比如，车辆可以通过图像传感器获取车辆行驶过程中周围的图像信息，例如，车辆可以获取车辆途经的楼层间通道的图像信息，通过识别通道内悬挂或张贴的楼层标识，可以确定车辆将驶入的楼层，以确定车辆所处的楼层位置；又比如，结合车辆所途经的楼层间通道与楼层之间的路口的个数，确定车辆所在楼层的相对变化，等等)，在车辆驶入新的楼层时，可以在车辆的中控屏等交互装置中显示该楼层的信息(比如，“您当前处于地下二层”，等等)，在车辆驶入停车位后，可以将最新识别到的楼层信息，确定为停车位置所在的楼层的信息；又例如，在车辆进入停车场至完成停车的过程中，车辆可以途经多个停车分区，可以在车辆途经停车分区时，在中控屏等交互装置中显示车辆当前所处的停车分区的信息(比如，“您当前处于A区”或“您已驶入B 区”)，在车辆驶入停车位后，可以将最新识别到的分区信息，确定为停车位置所在的停车分区，也可以是在车辆驶入停车位、确定车辆将驶入停车位时，获取该停车位所在的分区的信息；又例如，在车辆停车所在的车位(也可以称为停车位)没有标识时，可以根据车辆的停车楼层、停车分区的信息，确定车辆的停车位置。类似的，上述交互装置所显示的信息也可以由车载扬声器进行语音播报。为了简洁，此处不再一一举例说明。
本申请实施例中，在车辆行驶至不同位置时，根据车辆当前所处的区域，获取该区域的信息，以便于确定车辆所处的停车位置信息，如停车位信息、楼层信息、分区信息等。通过上述方法，可以提高车辆寻车的使用体验，有助于用户在无需使用终端设备对停车区域拍照的情况下获知车辆所在停车位置。
结合第一方面，在第一方面的某些实现方式中，该第一区域为车辆所处的停车场的停车楼层和/或停车分区，该第二区域可以包括车辆停车的车位，该停车位置信息可以包括车辆停车的车位的信息，和，停车楼层的信息和/或停车分区的信息。
示例性地，车辆停车于室外停车场，该室外停车场可以包括多个停车分区时，该停车位置信息可以包括停车位的信息和停车分区的信息；车辆停车于室内停车场时，该停车位置信息可以包括停车楼层的信息和停车位的信息，在楼层中包括多个停车分区时，停车位置信息还可以包括停车分区的信息和停车位的信息，等等。
本申请实施例中，根据停车场的楼层和区域划分，可以向用户反馈有效寻车信息，有助于提高用户寻车的效率。
结合第一方面，在第一方面的某些实现方式中，在该车辆进入第二区域时，获取该第二区域的信息，可以包括：获取第一指令，该第一指令用于指示所述车辆的用户存在停车意图；根据该第一指令，获取该第二区域的信息。
示例性地，第一指令可以是语音指令、触控指令、按键指令、手势指令等指令中的一种或多种。例如，可以根据用户的语音指令，确定用户是否存在停车意图，比如，用户可以与车辆进行语音交互，语音交互中，用户可以下达“我要停车”、“自动停车”、“驶入车位”等指令，具有辅助停车功能的车辆，可以根据检测到的空闲的目标车位，控制车辆驶入该空闲的目标车位，并获取该目标车位的信息(比如，该目标车位的标识、图像，等)，在车辆接收到该语音指令后，确定出用户具有停车意图，根据该语音指令，获取该第二区域的信息；又例如，也可以结合用户对于停车位的指示(比如，用户通过实体、虚拟按键所指示的车位，用户通过语音指令所指示的车位)，获取该目标车位的信息；再例如，用户可以通过隔空手势，指示触发自动停车功能，在车辆接收到该隔空手势后，确定出用户具有停车意图，根据该隔空手势，获取该第二区域的信息。
本申请实施例中，根据用户的停车意图，获取第二区域的信息，可以降低车辆用于获取该第二区域的信息的开销，也可以减少所获取的数据中的无效信息，提高所获取的第二区域的信息的准确性。
结合第一方面，在第一方面的某些实现方式中，该当该车辆进入第二区域时，获取该第二区域的信息，可以包括：在检测到该车辆进入停车状态时，获取该第二区域的信息。
示例性地，可以根据车辆的控制信号，确定车辆是否进入停车状态。例如，在车辆位于停车场时，在检测到车辆的档位调整为倒车档时，可以认为车辆进入停车状态，可以获取车辆周边的空闲的目标车位的信息；又例如，在车辆位于停车场时，在检测到制动踏板或加速踏板存在作用力，且将车速控制在预设车速(比如3千米/小时)以内时，可以认为车辆进入停车状态，可以获取车辆周边的空闲的目标车位的信息，也可以获取此时车辆所处的停车分区的信息；又例如，车辆的停车功能也可以由自动驾驶系统或高级辅助驾驶系统实现，在检测到车辆启动自动停车、辅助停车(或称为自动泊车、辅助泊车)的功能后，或者，在检测到用户指示启动自动停车、辅助停车的功能后，认为车辆进入停车状态，可以获取车辆周边的空闲的目标车位的信息；又例如，在检测到车辆处于停车状态时，可以通过控制车载传感器调节其范围，以便于采集目标车位的信息，比如，车载传感器可以具有可调节支架，可以通过调整该支架姿态，实现对于该车载传感器的感测范围的调节，等等。其中，上述车辆的控制信号可以是车辆的控制信号，例如控制器局域网络(controller area network，CAN)信号，以太网信号等。
车辆完成停车时可以位于该第二区域内，而车辆完成停车时，由于车辆姿态的限制，可能会影响 对于该第二区域的信息的获取、甚至无法获取到该第二区域的信息，本申请实施例中，在检测到车辆进入停车状态时，提前或开始获取该第二区域的信息，可以避免由于车辆位姿对于获取第二区域的信息的影响，可以提高所获取的第二区域的信息的准确性。
结合第一方面，在第一方面的某些实现方式中，该方法还可以包括：在该车辆进入停车状态到该车辆完成停车的过程中，获取停车环境信息；该获取该第二区域的信息，可以包括：根据该停车环境信息，获取该第二区域的信息。
示例性地，在确定车辆进入停车状态，至车辆完成停车的过程中，可以根据车辆的感知传感器所采集的环境信息，获取该第二区域的信息。例如，检测到车辆处于停车状态时，比如在检测到车辆的档位调整为倒车档时，车辆部分或全部可以处于该停车位之外，车辆倒车驶入车位时，可以根据车辆的后视摄像头所采集的图像中的车位的占比、车辆预期的行驶路径等，确定车辆将驶入的目标车位，并由此根据车辆传感器所采集的环境信息，确定该目标车位的标识、图像等信息；又例如，由于车辆部分或全部位于停车位内时，由于摄像头的安装位置，或者即使调整摄像头的角度后，可能无法获取该停车位的信息，由此在检测到车辆处于停车状态时，可以控制车辆的全景影像系统采集周边环境信息，至车辆完成停车之前，可以根据该全景影像系统所采集的环境信息，比如，可以根据停车过程中全景影像系统所采集的多个时刻的图像，进行拼接融合得到车辆停车时所在的车位的图像，也就是说，处于停车姿态下的车辆，会影响其车载传感器对于其所在的停车位的信息的获取，可以通过完成停车之前的多个时刻的周边环境信息，比如可以通过图像的拼接融合等处理，可以获取该停车位的信息。
由于感知传感器在车辆的位置相对固定，根据传感器在某一时刻所采集的环境信息，获取该第二区域的信息，会受限于车辆的位姿，由此，本申请实施例中，通过获取停车过程中的环境信息，可以降低车辆位姿对于获取该第二区域的信息的影响。
结合第一方面，在第一方面的某些实现方式中，该方法还可以包括：发送第一提示消息，该第一提示消息可以包括该车辆的停车位置信息。
示例性地，在确定停车位置信息之后，可以在车辆的中控屏等交互装置显示该停车位置信息。例如，在车辆完成停车后，在车辆下电之前，可以控制车辆的中控屏等交互装置显示该车辆所在的停车位置的信息(比如，“您的爱车当前位于地下一层A区A106”，等等)。也就是说，在车载芯片、车载装置(如座舱域控制器、控制器等)、车机系统等装置实现该方法时，可以使能车载通信装置，比如，车载远程通信盒(telematics box，T-box)等，发送该第一提示消息。例如，向绑定的终端设备发送第一提示消息，或者，向分享的目标用户的终端发送第一提示消息，还可以通过该车辆的中控屏等交互装置，来显示该停车位置的信息。
示例性地，手机等终端设备，可以获取该第一提示消息。例如，在车辆、车载芯片、车载装置、车机系统等装置实现该方法时，可以发送第一提示消息，与该车辆相关联的手机等终端设备，可以通过蓝牙、无线网络(如蜂窝网络、Wi-Fi等)获取该第一提示消息，从而可以实现获知该车辆的停车位置。
本申请实施例中，通过车辆与终端的信息交互，可以及时向用户提供车辆停车位置，以便于后续寻车操作，提升寻车体验。
结合第一方面，在第一方面的某些实现方式中，该发送第一提示消息，包括：在检测到该车辆完成停车时，发送该第一提示消息。
示例性地，在确定车辆完成停车时，可以发送该第一提示消息，相应地，手机等终端设备可以获取该第一提示消息，从而获知该车辆的停车位置。
本申请实施例中，在车辆完成停车时，发送该第一提示消息，可以自动发送用于指示停车位置的消息，可以节省用户对于停车位置的请求操作，可以提升用户的使用体验。手机等终端设备可以在接收到该第一提示消息时就显示车辆的停车位置信息，也可以在用户打开应用时，再显示车辆的停车位置信息，还可以在手机的特定界面(如手机的负一屏、智能助手页面等)上显示车辆的停车位置信息。提高终端用户的使用体验。
结合第一方面，在第一方面的某些实现方式中，该方法还可以包括：接收停车位置请求信息，该停车位置请求信息用于请求该车辆的停车位置；该发送第一提示消息，可以包括：根据该停车位置请求信息，发送该第一提示消息。
示例性地，手机等终端设备可以发送该停车位置请求信息，相应地，车辆可以获取该停车位置请求信息，可以根据该停车位置请求信息，发送该第一提示消息，相应地，手机等终端设备可以获取该第一提示消息。例如，在用户寻车过程中，可以通过手机等终端设备发送该停车位置请求信息，与车辆进行通信，从而可以获知车辆的停车位置；再例如，还可以由服务器触发该停车位置请求信息，获取当前车辆的停车位置信息，并存储在云端，在用户存在寻车需求时，再将该车辆的停车位置信息下发至用户的手机等终端设备上。
本申请实施例中，可以根据用户对于停车位置的请求，发送第一提示消息，可以根据用户的实际的需求指示车辆的停车位置，从而实现与用户的交互。
一些可能的实现方式中，该停车位置请求信息可以携带有请求人身份信息，该根据该停车位置请求信息，发送该第一提示消息，可以包括：根据该请求人身份信息，发送该第一提示消息。
示例性地，该停车位置请求信息中，可以包括请求人的身份信息，由此，可以确定该用户的权限。例如，该用户为未授权用户时，可以不发送该第一提示消息；又比如，该用户为授权用户，比如，在确定该请求人为车主时，该第一提示消息中可以包括该停车位的图像、标识，停车分区的图像、标识、停车楼层的图像、标识，又比如，确定该请求人为临时授权用户(比如车主授权给其朋友、服务人员等临时授权用户)，该第一提示消息可以包括停车位的标识，停车分区的图像、标识等，为了便于该请求人的寻车，比如，也可以包括车辆的车牌信息等，也就是说，根据请求人的身份、权限，所发送的第一提示消息可以包括不同的内容，其所包括的内容可以是预先设定的，也可以是根据该请求人所请求的内容。
本申请实施例中，根据用户的身份信息，确定该第一提示消息，可以避免非授权用户的接入，可以根据请求人的权限和请求确定其可以获取的停车位置的信息，有利于保障车辆的安全。
结合第一方面，在第一方面的某些实现方式中，该方法还可以包括：获取该第二区域的多个时刻的图像信息；根据该第二区域的该多个时刻的图像信息，确定多个标识信息；该获取第二区域的信息，包括：根据该多个标识信息，获取该第二区域的标识，该第二区域的信息包括该第二区域的标识。
示例性地，可以在车辆进入停车状态时、获取第一指令等场景时，
本申请实施例中，根据多个时刻的图像确定多个标识，可以避免单一时刻的图像对于标识信息的缺省，可以提高所确定区域的信息的完整性。
结合第一方面，在第一方面的某些实现方式中，该多个标识信息包括至少两个第一残缺标识，该第一残缺标识包括该第二区域的标识的部分，该根据该多个标识信息，获取该第二区域的标识，包括：对该至少两个第一残缺标识中的多个第一残缺标识进行拼接融合，获取该第二区域的标识。
示例性地，通过对残缺标识的拼接、融合，可以确定该第二区域的标识。例如，所获取的第二区域的图像，依赖于车辆的位置和姿态，部分场景中，通过该图像所获取的标识信息可能仅包括第二区域的标识的部分，比如第二区域的标识为“A106”，不同时刻下，所获取的图像中可能仅包括该标识的部分(比如“A10”、“106”等)，从而根据第二区域在某一时刻的图像，可能无法获取完整的第二区域的标识，由此通过多个时刻的图像，对其中的残缺标识进行匹配、拼接、融合等处理，可以获得该第二区域的标识；类似地，也可以通过对残缺标识进行拼接融合确定第一区域的标识。
本申请实施例中，通过对残缺标识进行拼接融合，可以避免由于残缺标识导致的第二区域的信息的误判，可以提高第二区域的信息的准确性。
结合第一方面，在第一方面的某些实现方式中，该根据该多个标识信息，获取该第二区域的标识，可以包括：根据该多个标识信息中至少一个标识信息的置信度，获取该第二区域的标识。
示例性地，根据第二区域的图像信息，获得标识信息，可以根据该标识信息的置信度，确定该第二区域的标识。例如，可以认为该多个标识中，纯符号的标识(比如，→、-、←、％等)、纯文本的标识(比如，个人专用车位、消防通道，等)的置信度较低，由此，可以根据标识信息的置信度，从该多个标识信息中筛选得到该第二区域的标识；又例如，可以根据该标识信息在该多个时刻的轨迹与车辆行驶轨迹的匹配程度，确定该标识信息的置信度；又例如，由残缺标识所拼接融合得到的多个标识信息，也可以根据该标识信息的置信度，从中筛选得到该第二区域的标识，等等。
本申请实施例中，通过确定标识信息的置信度，获得第二区域的标识，可以提高所确定的第二区域的标识的准确度。
结合第一方面，在第一方面的某些实现方式中，该方法还可以包括：当该车辆进入该第一区域时，获取第一触发条件，该第一触发条件可以用于指示，获取该第一区域的信息所需满足的条件；该获取该第一区域的信息，可以包括：在满足该第一触发条件时，获取该第一区域的信息。
示例性地，当车辆进入第一区域时，可以获取该第一触发条件，在满足该第一触发条件时，获取该第一区域的信息。例如，比如，对于室内停车场而言，在车辆驶入停车场后，可以实时记录车辆所在楼层，比如，可以根据车辆的俯仰角实时记录车辆所处的楼层，也就是说，对于车辆所在楼层的触发条件，可以是确定车辆处于停车场所在区域，比如，可以根据所检测到的停车场道闸，确定车辆处于停车场所在区域，又比如，可以确定车辆处于楼层间通道、驶出楼层间通道时，触发对于楼层的识别；又例如，该第一触发条件可以包括检测到车辆处于停车场所在区域(比如根据第一状态信息，确定车辆是否处于停车场所在区域，又比如，在检测到道闸、停车场立柱等停车场标志物时，确定车辆处于停车场所在区域)、检测到车辆的档位调整为倒车档、检测到车辆的行驶速度小于或等于预设阈值、检测到用户具有停车意图的语音指令、检测到用户对于停车的目标车位的指示、或检测到车辆进入停车状态等情形时，获取车辆当前所在的楼层的信息，由此可以避免冗余信息的干扰，也可以提高该方法准确度；又例如，类似地，车辆驶入停车场后，可以实时对于车辆所途经的停车分区进行检测，可以在检测到车辆进入停车状态等场景时，获取车辆当前所在的停车分区的信息，也可以是在满足上述条件时，控制感知传感器开启，并采集周边的环境信息，由此可以根据该周边环境信息确定该时刻车辆所在的停车分区的信息。
本申请实施例中，通过获取该第一触发条件，可以节省用于获取第一区域的信息的资源，也可以降低冗余信息的干扰，可以提高所确定的停车位置信息的准确性。
结合第一方面，在第一方面的某些实现方式中，该方法还包括：在确定该车辆进入停车场时，获取车辆的周边环境信息，该周边环境信息用于获取该第一区域的信息，和/或该第二区域的信息。
示例性地，在检测到停车场标志物时，可以确定车辆处于停车场。例如，可以获取第一状态参数，根据第一状态参数，进行停车场标志物检测，该第一状态参数可以是车辆与停车场入口间的距离、车速、全球卫星导航系统信号的信号质量等参数的结合，第一状态参数也可以是车辆与停车场入口间的距离、车速和全球卫星导航系统(global navigation satellite system，GNSS)信号的信号质量等参数之外的其他参数，比如，在该第一状态参数小于第一阈值时，可以认为车辆可能处于停车场所在区域之内，由此，可以进行停车场标志物检测，在检测到停车场标志物时，可以确定车辆进入停车场，比如，该停车场标志物可以是停车场道闸、停车位、停车场立柱、停车场悬挂或张贴的标识等等。
本申请实施例中，在确定车辆进入停车场时，获取用于确定标志物信息的周边环境信息，一方面可以保证所获取的区域的信息的完整性，可以降低由于触发条件的设定不合理，而导致的停车位置信息的偏差，另一方面也有利于避免该方法在停车场外的误触发。
结合第一方面，在第一方面的某些实现方式中，该方法还包括：根据该车辆上的传感器所采集的数据，检测第一区域的标志物；该获取该地区域的信息，可以包括：根据该第一区域的标志物，获取该第一区域的信息。
示例性地，该第一区域的标志物可以是停车场立柱、停车场内墙、指示牌、悬挂或张贴的标识等。例如，可以根据摄像头、雷达传感器所采集的数据检测停车场立柱，在检测到停车场立柱时，可以根据停车场立柱的图像，获取停车分区的标识，等等。
由于停车场的环境中可能具有多种标识信息，环境相对比较复杂，根据停车场的图像信息，从中筛选得到第一区域的标识等信息，准确度可能较低，在本申请实施例中，进行标志物检测，并根据标志物，获取第一区域的信息，可以缩小第一区域的信息的识别范围，一方面可以缩小无效信息的干扰，另一方面也可以提高所获取的第一区域的信息的准确性。
结合第一方面，在第一方面的某些实现方式中，该根据第一区域的标志物，获取第一区域的信息，可以包括：根据该第一区域的标志物的图像信息，确定一个或多个标志物信息；根据该一个或多个标志物信息的中至少一个该标志物信息的置信度，获取该第一区域的信息。
示例性地，可以根据标志物信息的置信度，获取该第一区域的信息。例如，以该第一区域的标志物为停车场立柱为例，根据该停车场立柱可能获取多个标志物信息，比如，“安全通道”、“A区”、“←”、“禁止吸烟”、“地下一层”等等，可以认为纯文字的标识(“安全通道”、“禁止吸烟”等)、纯符号的标识 (“←”等)的置信度较低，从而可以确定“A区”为该停车分区的信息；又例如，可以根据该多个标志物信息中是否包括区域关键字，确定该标志物信息的置信度，比如，对于停车分区而言，可以认为包含关键字“区”的标识，具有较高的置信度，对于楼层而言，可以认为包含关键字“层”的标识，具有较高的置信度，由此可以确定停车分区、停车楼层的信息。
本申请实施例中，通过标志物信息的置信度，获取该第一区域的信息，可以提高所确定的第一区域的信息的准确性。
结合第一方面，在第一方面的某些实现方式中，该车辆可以包括车载显示装置，该方法还可以包括：在获取该第一区域的信息时，控制该车载显示装置显示该第一区域的信息；和/或，在获取该第二区域的信息时，控制该车载显示装置显示该第二区域的信息。
示例性地，可以通过该车载显示装置显示该第一区域、第二区域的图像、标识等。例如，在获取车辆所在的第一区域的信息(比如，“地下一层”)时，可以通过该显示区域显示该第一区域的信息(比如，“您当前位于地下一层”、“您已驶入地下一层”，等)；又例如，在通过标志物获得到该第一区域的信息时，可以控制该车载显示装置显示该标志物的图像，比如，根据停车场立柱的图像，获得该楼层、停车分区的标识时，可以控制该车载显示装置显示该立柱的图像，也可以显示该立柱的图像中包括该楼层、停车分区的标识的部分，也可以在显示该立柱的图像时添加突出标记，以在显示界面突出该楼层、停车分区的标识；又例如，在获取目标车位的信息时，可以控制车载显示装置显示该目标车位的图像，在所显示的图像中包括目标车位在内的多个车位时，比如可以以线框等方式突出该车位；又例如，在获取目标车位的标识时，可以在控制车载显示装置显示该车位的标识，比如显示该车位的图像中包括该标识的部分，又比如，在显示该车位的图像时以突出标记的方式，提示该车位的标识，等等。
结合第一方面，在第一方面的某些实现方式中，该第一区域包括停车楼层，该方法还包括：获取该车辆的俯仰角信息；该获取该第一区域的信息，可以包括：根据车辆的俯仰角信息，确定该停车楼层的信息。
示例性地，可以根据车辆的俯仰角信息，确定车辆在上坡、下坡所经途径的楼层间通道的个数，以此确定车辆当前所处的楼层位置。例如，在车辆的俯仰角大于或等于预设阈值(比如13度、15度，等)时，可以认为车辆处于上坡阶段，比如，可以将车辆上坡阶段所通过的楼层间通道记为+1，将车辆下坡阶段所通过的楼层间通道记为-1，从而可以根据车辆上坡、下坡所通过的楼层间通道的个数，确定车辆当前所在的楼层位置，在车辆进入停车状态时，可以将车辆当前所处的楼层位置确定为停车楼层，以此确定停车楼层的信息；又例如，可以根据车辆的俯仰角信息，确定车辆是否处于楼层间通道，可以通过获取的周边环境信息，识别该楼层间通道的出入口，从而可以更加准确地获取车辆所通过的楼层间通道的个数，可以由此确定车辆当前所处的楼层位置。
本申请实施例中，根据车辆的俯仰角信息，确定停车楼层，由于俯仰角信息的获取可以不依赖于雷达传感器、摄像头传感器，使得可以适用于感知传感器数量较少的车辆，可以适用于较低配置的车辆，而且也可以节省在确定停车位置过程中用于雷达传感器、摄像头传感器等的资源消耗，对于智能汽车、新能源汽车等而言，可以降低车辆的电量消耗，提高车辆的可续航里程。
结合第一方面，在第一方面的某些实现方式中，该第一区域包括停车楼层，该停车楼层与停车场的楼层间通道相连，该方法还可以包括：在确定该车辆通过该楼层间通道时，获取通道指引标识，该通道指引标识包括与该楼层间通道相连的楼层的信息；获取第一区域的信息，可以包括：根据该通道指引标识，获取该停车楼层的信息。
示例性地，在确定车辆处于楼层间通道时，可以根据该楼层间通道的图像信息，获取该通道的指引标识，由此，可以根据该通道指引标识，确定车辆将驶入的楼层的信息。例如，在检测到车辆通过楼层间通道时，可以获取该楼层间通道的图像信息，通过对该图像信息的识别，可以获得通道内所悬挂或张贴的标识信息，比如，“<<<通道地下一层<<<”、“<<<xxx层<<<”、“←XXX层”、“<<<”、“←”，等等，根据该标识信息的置信度，可以获取通道指引标识，比如可以认为仅包括符号的标识的置信度较低，可以认为包括关键字“层”的标识的置信度较高，由此，可以获得通道指引标识，可以确定该车辆所将驶入的楼层的信息，从而在该车辆驶出该楼层间通道驶入新的楼层时，可以确定车辆当前所在的楼层位置，以此可以确定停车楼层的信息。
车辆在驶入停车楼层时，由于楼层的空间较大，且可能存在多种类型的标识，由此可能难以准确 识别停车楼层的标识，本申请实施例中，在检测到车辆处于楼层间通道时，基于该通道指引标识提前获取楼层的信息，可以降低识别停车楼层的标识的难度，也可以避免由于停车场建筑结构对于停车楼层的影响，从而可以提高确定的停车楼层的准确度。
第二方面，提供了一种停车交互的装置，该装置可以包括：获取模块，用于在车辆进入第一区域时，获取该第一区域的信息；在该车辆进入第二区域时，获取该第二区域的信息，该第二区域位于该第一区域内；处理模块，用于根据该第一区域的信息和该第二区域的信息，确定该车辆的停车位置信息。
结合第二方面，在第二方面的某些实现方式中，该第一区域可以为停车场的停车楼层和/或停车分区；该第二区域可以包括车辆停车的车位；该停车位置信息包括该车辆停车的该车位的信息，和，该停车楼层的信息和/或该停车分区的信息。
结合第二方面，在第二方面的某些实现方式中，该获取模块，具体可以用于：获取第一指令，该第一指令用于指示该车辆的用户存在停车意图；根据该第一指令，获取该第二区域的信息。
结合第二方面，在第二方面的某些实现方式中，该获取模块，具体可以用于：在检测到该车辆进入停车状态时，获取该第二区域的信息。
结合第二方面，在第二方面的某些实现方式中，该获取模块，还可以用于：在该车辆进入停车状态到该车辆完成停车的过程中，获取停车环境信息；该获取模块，具体可以用于：根据该停车环境信息，获取该第二区域的信息。
结合第二方面，在第二方面的某些实现方式中，该装置还可以包括：发送模块，可以用于发送第一提示消息，该第一提示消息包括该车辆的停车位置信息。
结合第二方面，在第二方面的某些实现方式中，该发送模块，具体可以用于：在检测到该车辆完成停车时，发送该第一提示消息。
结合第二方面，在第二方面的某些实现方式中，该装置还可以包括：接收模块，可以用于接收停车位置请求信息，该停车位置请求信息可以用于请求该车辆的停车位置信息；该发送模块，具体可以用于：根据该停车位置请求信息，发送该第一提示消息。
结合第二方面，在第二方面的某些实现方式中，该停车位置请求信息携带有请求人身份信息，该发送模块，具体可以用于：根据该请求人身份信息，发送该第一提示消息。
结合第二方面，在第二方面的某些实现方式中，该获取模块，还可以用于：获取该第二区域的多个时刻的图像信息；该处理模块，还可以用于：根据该第二区域的该多个时刻的图像信息，确定多个标识信息；该获取模块，具体可以用于：根据该多个标识信息，获取该第二区域的标识，该第二区域的信息包括该第二区域的标识。
结合第二方面，在第二方面的某些实现方式中，该多个标识信息可以包括至少两个第一残缺标识，该第一残缺标识包括该第二区域的标识的部分，该获取模块，具体可以用于：对该至少两个第一残缺标识中的多个第一残缺标识进行拼接融合，获取该第二区域的标识。
结合第二方面，在第二方面的某些实现方式中，该获取模块，具体可以用于：根据该多个标识信息中的至少一个标识信息的置信度，获取该第二区域的标识。
结合第二方面，在第二方面的某些实现方式中，该获取模块，还可以用于：在该车辆进入该第一区域时，获取第一触发条件，该第一触发条件用于指示，获取该第一区域的信息所需满足的条件；该获取模块，具体可以用于：在满足该第一触发条件时，获取该第一区域的信息。
结合第二方面，在第二方面的某些实现方式中，该获取模块，还可以用于：在确定该车辆进入停车场时，获取车辆的周边环境信息，该周边环境信息用于获取该第一区域的信息，和/或该第二区域的信息。
结合第二方面，在第二方面的某些实现方式中，该处理模块还可以用于：根据该车辆上的传感器采集的数据，检测第一区域的标志物；该获取模块，具体可以用于：根据该第一区域的标志物，获取该第一区域的信息。
结合第二方面，在第二方面的某些实现方式中，该获取模块具体可以用于，根据第一区域的标志物的图像信息，确定一个或多个标志物信息；根据该一个或多个标志物信息中至少一个标志物信息的 置信度，获取该第一区域的信息。
结合第二方面，在第二方面的某些实现方式中，该车辆可以包括车载显示装置，该处理模块，还可以用于：在获取该第一区域的信息时，控制该车载显示装置显示该第一区域的信息；和/或，在获取第二区域的信息时，控制该车载显示装置显示该第二区域的信息。
结合第二方面，在第二方面的某些实现方式中，该第一区域包括停车楼层，该获取模块还可以用于：获取该车辆的俯仰角信息；该获取模块具体可以用于，根据该车辆的俯仰角信息，确定停车楼层的信息。
结合第二方面，在第二方面的某些实现方式中，该第一区域可以包括停车楼层，该停车楼层可以与停车场的楼层间通道相连，该获取模块还可以用于：在确定该车辆处于楼层间通道时，获取通道指引标识，该通道指引标识包括与该楼层间通道相连的楼层的信息；获取模块具体可以用于，根据该通道指引标识，获取该停车楼层的信息。
第三方面，提供了一种识别停车区域的方法，该方法包括获取周边环境数据，该周边环境数据用于检测该停车区域的标志物；在检测到该标志物时，获取该标志物的图像；根据该标志物的图像，确定该停车区域。
示例性地，停车区域可以是指“A区”、“A-17”、“W-2-6”等停车分区，该停车区域的标志物可以包括停车区域中不会移动的物体。例如，该标志物可以是停车场内墙、停车场立柱、指示牌等。应理解，以上关于停车区域的标志物的描述只是示例，本申请实施例对此不做限定。
本申请实施例中，在检测到停车区域的标志物时，通过获取该停车区域的标志物的图像，确定停车区域，可以降低无关信息对识别停车区域的影响，由此提高确定停车区域的准确性，也可以节省在识别停车区域的过程中的开销，还可以在无法识别该停车区域的标识的情况下，通过标志物确定该停车区域，有助于用户在无需通过手机等终端设备对停车区域拍照的情况下，获知车辆所处停车区域，便于用户寻车。
结合第三方面，在第三方面的某些实现方式中，该停车区域包括第一车位，该第一车位为车辆处于停车位姿时所处的车位，该方法还包括：获取第一车位图像，该第一车位图像包括第一车位，所述第一车位处于空闲状态；根据该第一车位图像，确定该第一车位的标识，该第一车位的标识包括区域关键字；该根据该标志物的图像，确定该停车区域，包括：根据该标志物的图像和该区域关键字，确定该停车区域。
示例性地，该第一车位图像可以包括第一车位的部分或全部。车辆在未处于停车位姿之前，该车辆可能并未处于该第一车位之内，此时该第一车位可以为车辆预期驶入，或者说后续将驶入的车位，因此，该第一车位也可以称为目标车位。例如，该第一车位图像可以中可以包括3个车位，其中，包括1个车位的全部区域，2个车位的部分区域，该3个车位中包括目标车位；又例如，可以包括1个车位的部分区域，且该车位为目标车位。应理解，以上关于第一车位图像的说明只是示例，本申请实施例对此不做限定。
示例性地，区域关键字可以是车位标识与停车区域标识都包括的关键字。例如，车辆位于停车区域A区，第一车位的标识为A104，可以认为区域关键字为A；又例如，第一车位的标识为W104，其临近车位的标识为W103，由于两个标识包括相同的关键字W，可以将其作为区域关键字。应理解，以上关于区域关键字的说明只是示例，本申请实施例对此不做限定。
本申请实施例中，通过第一车位的标识，在该标识中包括区域关键字时，根据区域关键字以及停车区域的标志物的图像，可以提高识别停车区域的标识的准确度，由此可以提高识别停车区域的准确度。
结合第三方面，在第三方面的某些实现方式中，该方法还包括：获取车位指示信息，该车位指示信息用于指示第一车位所处区域；该根据该第一车位图像，确定该第一车位的标识，包括：根据该车位指示信息和该第一车位图像，确定该第一车位的标识。
示例性地，根据该车位指示信息可以确定第一车位。例如，在使用停车辅助功能时，用户可以与车辆进行交互，以指示车辆将驶入的车位，由此可以获取车位指示信息；又例如，在使用自动停车等功能时，可以根据该停车功能对于第一车位的识别结果，确定第一车位。应理解，以上关于车位指示 信息的描述只是示例，本申请实施例对此不做限定。
本申请实施例中，通过获取车位指示信息，可以提高所确定的第一车位的准确度，由此可以提高所确定的第一车位的标识的准确度，由此可以提高识别停车区域的准确性，而且由于该车位指示信息可以指示第一车位所处区域，可以节省在确定第一车位标识的过程中的开销。
结合第三方面，在第三方面的某些实现方式中，该方法还包括：根据该第一车位图像，确定第一比例，该第一比例用于指示该第一车位在该第一车位图像中的占比；该根据该第一车位图像，确定该第一车位的标识，包括；根据该第一车位图像和该第一比例，确定该第一车位的标识。
本申请实施例中，由于该第一车位图像包括至少一个车位，通过确定第一车位图像里的第一车位的占比，可以确定该图像中第一车位的部分，由此可以提高第一车位的标识的准确度。
结合第三方面，在第三方面的某些实现方式中，该根据该第一车位图像，确定该第一车位的标识，包括：根据该第一车位图像，确定一个或多个车位信息文本；根据该一个或多个车位信息文本中至少一个车位信息文本的置信度，确定该第一车位的标识。
示例性地，根据该第一车位图像，可以确定一个或多个文本，为了便于解释和说明，该文本也可以称为车位信息文本。
本申请实施例中，通过确定车位信息文本的置信度，可以提高所确定的第一车位的标识的准确度，进一步地，可以提高识别停车区域的准确度。
结合第三方面，在第三方面的某些实现方式中，该车辆包括车载显示装置，该方法还包括：控制该车载显示装置显示该第一车位的图像。
示例性地，控制车载显示装置显示该第一车位的图像。例如，可以控制中控屏等显示该第一车位的图像，也可以控制抬头显示系统等显示第一车位的图像；又例如，在中控屏等显示包括第一车位在内的多个车位的图像时，可以以线框等方式突出该第一车位；再例如，可以该第一车位的图像可以包括该第一车位的部分区域，比如第一车位的标识所在的区域。应理解，以上关于显示第一车位的图像的方式只是示例，以便于说明，本申请实施例对此不做限定。
本申请实施例中，通过在车载显示装置显示第一车位的图像，可以提示用户该第一车位，有助于用户核实该第一车位的识别结果。
结合第三方面，在第三方面的某些实现方式中，该方法还包括：在确定该第一车位的标识之后，发送第一消息，该第一消息用于指示该第一车位。
示例性地，在确定该第一消息文本后，车辆可以发送该第一消息，相应地，手机等终端设备可以接收该第一消息，从而可以获知该第一车位。
本申请实施例中，通过发送第一消息，可以使得用户在无需使用手机等终端设备对停车位拍照的情况下，获知车辆所在停车区域，可以提高用户体验。
结合第三方面，在第三方面的某些实现方式中，该根据该标志物的图像，确定该停车区域，包括：根据该标志物的图像，确定一个或多个标志物信息；根据该一个或多个标志物信息，确定停车区域标识，该停车区域标识所指示的区域为该停车区域。
示例性地，根据该标志物的图像可以得到一个或多个文本，为了便于解释和说明，该文本也可以称为标志物信息，或标志物信息文本。
本申请实施例中，通过确定停车区域标识的置信度，可以识别停车区域的准确度。
结合第三方面，在第三方面的某些实现方式中，该方法还包括：控制该车载显示装置显示该停车区域标识。
示例性地，可以以文本的方式显示该停车区域标识，也可以是显示停车区域的标志物的图像中的停车区域标识的部分，还可以是显示停车区域的标志物的图像，以线框等方式突出该停车区域的标识，应理解，本申请实施例对此不做限定。
本申请实施例中，通过在车载显示装置显示停车区域标识，可以提示用户该停车区域，有助于用户核实该停车区域的识别结果。
结合第三方面，在第三方面的某些实现方式中，该方法还包括：在确定该停车区域之后，发送第二消息，该第二消息用于指示该停车区域。
示例性地，车辆可以发送该第二消息，相应地，手机等终端设备可以接收该第二消息，从而获知 车辆所在的停车区域。
本申请实施例中，通过发送第二消息，可以使得用户在无需使用手机等终端设备对车辆所在停车区域拍照的情况下，获知该车辆所在停车区域，可以提高用户体验。
结合第三方面，在第三方面的某些实现方式中，在获取周边环境数据之前，该方法还包括：获取语音指令或用户操作信息；根据该语音指令，检测停车语音指令，该停车语音指令用于指示用户存在停车意图；在检测到该停车语音指令时，启动第一传感器；或，根据用户操作信息，检测第一操作，该第一操作用于指示用户存在停车意图；在检测到该第一操作时，启动该第一传感器；控制该第一传感器采集该周边环境数据。
示例性地，停车语音指令可以表示用户存在停车意图。例如，在语音交互中，可以识别用户下达的“我要停车”、“自动停车”、“驶入车位”等。
示例性地，第一操作可以表示用户存在停车意图。例如，车辆位于停车场时，当检测到档位调整为倒车档时，可以认为用户存在停车意图；又例如，当用户通过制动踏板或加速踏板将车速控制在预设车速(比如3千米/小时)以内时，可以认为用户存在停车意图。
本申请实施例中，在确定用户存在停车意图时，控制传感器采集用于检测停车区域的标志物的周边环境数据，由此可以降低车辆用于识别停车区域标识的开销，而且可以减少所获取的数据中的无效信息，以此提高识别停车区域标识的准确性。
结合第三方面，在第三方面的某些实现方式中，在获取周边环境数据之前，该方法还包括：在确定该车辆位于停车场区域时，启动该第一传感器；控制该第一传感器采集该周边环境数据。
示例性地，该第一传感器可以包括一个或多个相同或不同类型的传感器。例如，在确定车辆位于停车场区域后，可以获取一个或多个摄像头采集的数据，和/或，一个或多个雷达所采集的数据，该一个或多个传感器所采集的周边环境数据，用于停车区域的标志物检测。应理解，本申请实施例对此不做限定。
本申请实施例中，在确定车辆位于停车场区域时，控制传感器采集用于检测停车区域的标志物的周边环境数据，以此可以实现对识别停车区域的功能的自动触发，可以提高用户的使用体验，也有利于适应自动驾驶场景下的应用方式。
结合第三方面，在第三方面的某些实现方式中，该方法还包括：获取第一状态参数，该第一状态参数包括该车辆与停车场入口间的距离、车速和全球卫星导航系统GNSS信号的信号质量中的至少一项；在该第一状态参数小于或等于第一阈值时，进行停车场标志物检测；在检测到该停车场标志物时，确定该车辆位于停车场区域。
示例性地，该第一状态参数可以是车辆与停车场入口间的距离、车速和GNSS信号的信号质量等参数的结合，第一状态参数也可以是车辆与停车场入口间的距离、车速和GNSS信号的信号质量等参数之外的其他参数，相应地，第一阈值可以与第一状态参数所包含的参数相关。例如，该第一状态参数也可以是经纬度信息，结合地图可以获知停车场所在区域，根据车辆所在经纬度，可以确定车辆是否位于停车场周边等。
本申请实施例中，在第一状态参数小于或等于第一阈值时，获取环境数据进行停车场标志物检测，由此能够在确定车辆是否位于停车场区域的过程中，降低对于传感器采集环境数据的依赖，可以减少传感器的工作时间，从而降低传感器的功耗，也有助于在确定车辆位于停车场区域后启动相应的功能模块。
结合第三方面，在第三方面的某些实现方式中，该停车区域的标志物为立柱。
本申请实施例中，在停车区域的标志物为立柱时，由于相较于停车场中的其他不能移动的物体而言，立柱的分布较规律且分布密度较高，根据立柱确定停车区域，可以提高识别停车区域的准确度。
第四方面，提供了一种识别停车区域的装置，该停车区域包括至少两个车位，该装置包括获取模块，可以用于获取周边环境数据，该周边环境数据可以用于停车区域的标志物的检测；在检测到该标志物时，获取该标志物的图像；处理模块，可以用于根据该标志物的图像，确定停车区域。
结合第四方面，在第四方面的某些实现方式中，该停车区域包括第一车位，该第一车位为车辆处于停车位姿时所处的车位，该获取模块，还可以用于获取第一车位图像，该第一车位图像中包括第一 车位；该处理模块还可以用于，根据该第一车位图像确定第一车位的标识，该第一车位的标识包括区域关键字；该处理模块具体可以用于，根据该标志物的图像和该区域关键字，确定停车区域。
结合第四方面，在第四方面的某些实现方式中，获取模块还可以用于：获取车位指示信息，该车位指示信息可以用于指示第一车位所处区域；处理模块具体可以用于：根据该车位指示信息和第一车位图像，确定第一车位的标识。
结合第四方面，在第四方面的某些实现方式中，处理模块还可以用于，根据该第一车位图像，确定第一比例，该第一比例可以用于指示第一车位在该第一车位图像中的占比，该处理模块，具体可以用于，根据第一车位图像和该第一比例，确定第一车位的标识。
结合第四方面，在第四方面的某些实现方式中，处理模块具体可以用于，根据该第一车位图像，确定一个或多个车位信息文本；根据该一个或多个车位信息中至少一个车位信息文本的置信度，确定第一车位的标识。
结合第四方面，在第四方面的某些实现方式中，车辆包括车载显示装置，处理模块，还可以用于控制该车载显示装置显示第一车位的图像。
结合第四方面，在第四方面的某些实现方式中，该装置还包括发送模块，该发送模块可以用于，在确定第一车位的标识之后，发送第一消息，该第一消息可以用于指示第一车位。
结合第四方面，在第四方面的某些实现方式中，处理模块，具体用于：根据标志物的图像，确定一个或多个标志物信息；根据该一个或多个标志物信息，确定停车区域标识，该停车区域标识所指示的区域为该停车区域。
结合第四方面，在第四方面的某些实现方式中，该处理模块，还可以用于，控制车载显示装置显示该停车区域标识。
结合第四方面，在第四方面的某些实现方式中，发送模块，还可以用于，在确定停车区域之后，发送第二消息，该第二消息可以用于指示停车区域。
结合第四方面，在第四方面的某些实现方式中，在获取周边环境数据之前，获取模块还可以用于，获取语音指令或用户操作信息；处理模块还可以用于：根据该语音指令，检测停车语音指令，该停车语音指令可以用于指示用户存在停车意图，在检测到停车语音指令时，启动第一传感器；或，根据用户操作信息，检测第一操作，该第一操作可以用于指示用户存在停车意图，在检测到第一操作信息时，启动该第一传感器；控制该第一传感器采集周边环境数据。
结合第四方面，在第四方面的某些实现方式中，在获取周边环境数据之前，处理模块，还可以用于：在确定车辆位于停车场区域时，启动第一传感器；控制第一传感器采集周边环境数据。
结合第四方面，在第四方面的某些实现方式中，获取模块还可以用于，获取第一状态参数；处理模块可以用于，在该第一状态参数小于或等于第一阈值时，进行停车场标志物检测；在检测到停车场标志物时，可以确定车辆位于停车场区域。
结合第四方面，在第四方面的某些实现方式中，该停车区域的标志物为立柱。
第五方面，提供了一种确定车辆位于停车场区域的方法，该方法包括：获取第一状态参数；在该第一状态参数小于或等于第一阈值时，进行停车场标志物检测；在检测到停车场标志物时，确定车辆位于停车场区域。
结合第五方面，在第五方面的某些实现方式中，该第一状态参数可以包括车辆与停车场入口间的距离、车速、GNSS信号的信号质量中的至少一项。
示例性地，该停车场标志物可以是停车场中不会移动的物体。例如，停车场道闸、停车场收费亭、停车位、停车场引导标识、停车场指示标识等。
本申请实施例中，在第一状态参数小于或等于第一阈值时，进行停车场标志物检测，并由此确定车辆是否位于停车场区域，可以降低对于传感器采集环境数据的依赖，可以减少传感器的工作时间，从而降低传感器的功耗。相应地，通过降低传感器的功耗，对于传统燃油汽车等而言，在一定程度上可以降低油耗，而对于电动汽车等而言，可以在一定程度上提高车辆的续航里程。
第六方面，提供了一种启动传感器的方法，该方法可以包括：获取语音指令或用户操作信息；根据该语音指令，检测停车语音指令，在检测到停车语音指令时，启动一个或多个感知传感器，或根据 用户操作信息，检测第一操纵，在检测到第一操作时，启动一个或多个传感器。
示例性地，该一个或多个传感器，可以是一种或多种类型的传感器，本申请实施例对此不做限定。进一步地，该一个或多个传感器所采集的数据可以用于与停车场景相关的功能。例如，在检测到用户在中控屏点击“辅助停车”的虚拟按键后，可以启动车辆的一个或多个摄像头，比如全景影像系统的摄像头等，通过控制该摄像头采集数据，可以获得环境数据，以便于识别车辆所在停车区域和/或第一车位等，进一步地，可以启动雷达，根据从而根据该多个传感器采集的数据控制车辆驶入第一车位。
本申请实施例中，由于与停车相关的功能可能涉及使用某些传感器，通过在确定用户存在停车意图时启动该传感器，可以仅在停车环节触发该传感器，由此可以降低该传感器的开销，而且可以避免该传感器所采集非停车环节的数据而对该功能造成干扰。
第七方面，提供了一种识别车位的标识的方法，该方法可以包括：获取第一车位图像；根据第一车位图像，确定第一车位的标识。
示例性地，该第一车位图像可以包括第一车位在内的至少一个车位。例如，可以获取多个时刻的车位的图像，该多个时刻的图像中可以包括第一车位，比如，可以获取摄像头传感器采集的第一时长内的视频图像，该视频可以包括多个时刻的车位的图像，从而可以避免由于单个图像中标识的不完整而导致的识别错误，可以提高识别的标识的准确度。应理解，以上关于第一车位图像的描述只是示例，以便于说明，本申请实施例对此不做限定。
结合第七方面，在第七方面的某些实现方式中，该方法还包括：获取车位指示信息，该车位指示信息可以用于指示第一车位所处区域；根据车位指示信息和第一车位图像，确定第一车位的标识。
结合第七方面，在第七方面的某些实现方式中，该方法还包括：根据第一车位图像确定第一比例，该第一比例可以用于指示第一车位在第一车位图像中的占比；该根据该第一车位图像，确定该第一车位的标识，包括；根据该第一车位图像和该第一比例，确定该第一车位的标识。
结合第七方面，在第七方面的某些实现方式中，该根据该第一车位图像，确定该第一车位的标识，包括：根据该第一车位图像，确定一个或多个车位信息文本；根据该一个或多个车位信息文本中至少一个车位信息文本的置信度，确定该第一车位的标识。
结合第七方面，在第七方面的某些实现方式中，该车辆包括车载显示装置，该方法还包括：控制该车载显示装置显示该第一车位的图像。
结合第七方面，在第七方面的某些实现方式中，该方法还包括：在确定该第一车位的标识之后，发送第一消息，该第一消息用于指示该第一车位。
本申请实施例中，根据第一车位的图像，可以确定第一车位的标识，有助于用户在无需使用手机等终端设备对停车位拍照的情况下，获知该车位的标识，以便于用户通过该信息获知该车辆的位置，便于用户对车辆进行寻找。
第八方面，提供了一种指示停车位置的交互方法，该方法可以包括：获取车辆位置信息，该车辆位置信息可以用于指示第一车位和/或停车区域；显示第一界面，该第一界面可以用于指示停车区域和/或第一车位。
示例性地，该车辆位置信息可以用于指示第一车位和/停车区域。例如，手机等终端设备可以获取用于指示第一车位的第一消息；可以获取用于指示停车区域的第二消息；所获取的车辆位置信息也可以既用于指示第一车位，也用于指示停车区域，也就是说，第一消息和第二消息可以是同一个消息；也可以是获取车辆周边环境的图像，通过呈现该周边环境的图像，用户可以获知该车辆所在区域。应理解，以上指示第一车位和/或停车区域的方式只是示例，以便于说明，本申请实施例对此不做限定。
本申请实施例中，终端设备在获取车辆位置信息之后，通过在第一界面显示与第一车位和/或停车区域相关内容，使得用户可以获知第一车位和/或停车区域，便于用户寻车，可以提高用户的使用体验。
第九方面，提供了一种确定车辆位于停车场区域的装置，该装置可以包括：获取模块，用于获取第一状态参数；处理模块，用于在该第一状态参数小于或等于第一阈值时，进行停车场标志物检测；还用于在检测到停车场标志物时，确定车辆位于停车场区域。
示例性地，该获取模块，还可以用于获取感知传感器采集的数据，该数据可以用于停车场标志物 检测。
结合第九方面，在第九方面的某些实现方式中，该第一状态参数可以包括车辆与停车场入口间的距离、车速、GNSS信号的信号质量中的至少一项。
第十方面，提供了一种启动传感器的装置，该装置可以包括：获取模块，用于获取语音指令或用户操作信息；处理模块，可以用于：根据语音指令检测停车语音指令，在检测到停车语音指令时，启动一个或多个感知传感器，或者，根据用户操作信息检测第一操作，该第一操作用于指示用户存在停车意图，在检测到第一操作时，启动一个或多个感知传感器
结合第十方面，在第十方面的某些实现方式中，获取模块，还可以用于，获取该一个或多个感知传感器采集的数据；处理模块，还可以用于，根据该感知传感器采集的数据，确定车辆所处的停车环境。
示例性地，根据该传感器所采集的数据，可以确定第一车位的标识和/或车辆所在的停车区域。
第十一方面，提供了一种识别车位的标识的装置，该装置可以包括：获取模块，可以用于获取第一车位图像；处理模块，可以用于根据该第一车位图像，确定该第一车位的标识。
结合第十一方面，在第十一方面的某些实现方式中，获取模块还可以用于：获取车位指示信息，该车位指示信息可以用于指示第一车位所处区域；处理模块具体可以用于：根据该车位指示信息和第一车位图像，确定第一车位的标识。
结合第十一方面，在第十一方面的某些实现方式中，处理模块，还可以用于：根据该第一车位图像，确定第一比例，该第一比例可以用于指示第一车位在该第一车位图像中的占比；处理模块3120具体可以用于，根据第一车位图像和该第一比例，确定第一车位的标识。
结合第十一方面，在第十一方面的某些实现方式中，处理模块具体可以用于，根据第一车位图像，确定一个或多个车位信息文本；根据该车位信息文本的置信度，确定该第一车位的标识。
结合第十一方面，在第十一方面的某些实现方式中，该车辆可以包括车载显示装置，该处理模块，还可以用于控制车载显示装置显示第一车位的图像。
结合第十一方面，在第十一方面的某些实现方式中，该装置还可以包括发送模块，该发送模块，可以用于发送第一消息，该第一消息可以用于指示第一车位。
一些可能的实现方式中，第二方面、第四方面、第九方面至第十一方面，及其任一方面中任一可能的实现方式中的装置，可以是车载芯片、车载装置(例如车机、车载电脑)或车。本申请实施例中的车可以理解为一种交通工具，本申请实施例所提出的方案也可以应用于其他交通工具或装置中。
第十二方面，提供了一种指示停车位置的交互装置，该装置可以包括：获取模块，可以用于获取车辆位置信息；该显示模块，可以用于显示第一界面，该第一界面可以用于指示停车区域和/或停车区域。
结合第十二方面，在第十二方面的某些实现方式中，该交互装置可以是电脑、智能手机、平板电脑、个人数字助理(personal digital assistant，PDA)、可穿戴设备、智能音箱、电视等装置中的一个或多个。
第十三方面，提供了一种装置，该装置可以包括处理器和存储器，该存储器用于存储程序指令，该处理器用于调用该程序指令来执行上述第一方面、第三方面、第五方面至第八方面中的任一方面，及其任一可能的实现方式中的方法。
第十四方面，提供了一种计算机可读介质，该计算机可读介质存储用于设备执行的程序代码，该程序代码包括用于执行上述第一方面、第三方面、第五方面至第八方面中的任一方面，及其任一可能的实现方式中的方法。
第十五方面，提供了一种包含指令的计算机程序产品，当该计算机程序产品在计算机上运行时，使得计算机执行上述第一方面、第三方面、第五方面至第八方面中的任一方面，及其任一可能的实现方式中的方法。
第十六方面，提供了一种车辆，该车辆包括，上述第二方面、第四方面、第九至第十一方面、第十三方面的任一方面的，及其任一可能的实现方式中的装置。
第十七方面，提供了一种系统，该系统包括车辆和电子设备，该车辆可以包括上述第二方面、第四方面、第九至第十一方面、第十三方面的任一方面的，及其任一可能的实现方式中的装置，该车辆 用于发送第一提示消息，该第一提示消息包括停车位置信息，该电子设备用于接收该第一提示消息；根据该第一提示消息，控制显示车辆的停车位置。
结合第十七方面，在第十七方面的某些实现方式中，该电子设备，还可以用于：发送停车位置请求信息，该停车位置请求信息用于请求该停车位置信息；该车辆还可以用于：接收该停车位置请求信息；该车辆，具体可以用于根据该停车位置请求信息，发送该第一提示消息。
本申请实施例提供了一种停车交互的方法，在车辆行驶至不同位置时，根据车辆当前所处的区域，获取该区域的信息，以便于确定车辆所处的停车位置信息，如停车位信息、楼层信息、分区信息等。通过上述方法，可以提高车辆寻车的使用体验，有助于用户在无需使用终端设备对停车区域拍照的情况下获知车辆所在停车位置。能够根据停车场的楼层和区域划分，可以向用户反馈有效寻车信息，有助于提高用户寻车的效率。能够根据用户的停车意图，获取第二区域的信息，可以降低车辆用于获取该第二区域的信息的开销，也可以减少所获取的数据中的无效信息，提高所获取的第二区域的信息的准确性。能够在检测到车辆进入泊车停车状态时，提前或开始获取该第二区域的信息，可以避免由于车辆位姿对于获取第二区域的信息的影响，可以提高所获取的第二区域的信息的准确性。通过获取泊车停车过程中的停车环境信息，能够可以降低车辆位姿对于获取该第二区域的信息的影响。通过车辆与终端的信息交互，可以及时向用户提供车辆停车位置，以便于后续寻车操作，提升寻车体验。能够在车辆完成停车时，自动发送用于指示停车位置的消息，可以节省用户对于停车位置的请求操作，可以提升用户的使用体验。能够基于用户对于停车位置的请求，指示车辆的停车位置，从而实现与用户的交互。能够基于请求人的身份信息，发送该车辆的停车位置，可以避免非授权用户的接入，可以根据请求人的权限和请求确定其可以获取的停车位置的信息，有利于保障车辆的安全。能够根据区域的多个时刻的图像确定该区域的信息，可以避免单一时刻的图像导致的区域信息的缺省，可以提高所确定区域的信息的完整性。能够对残缺标识进行拼接融合，可以避免由于残缺标识导致的区域信息的误判，可以提高区域信息的完整性。能够根据第一区域的标志物，获取第一区域的信息，可以缩小第一区域的信息的识别范围，一方面可以缩小无效信息的干扰，另一方面也可以提高所获取的第一区域的信息的准确性。能够根据标志物信息的置信度，获取该第一区域的信息，可以提高所确定的第一区域的信息的准确性。能够控制车载显示装置显示第一区域的信息，和/或第二区域的信息，以便于及时向用户提供车辆所在的位置，有助于用户及时对车辆所在位置进行确认。能够根据车辆的俯仰角信息，确定车辆在停车场中所处的停车楼层，能够节省在确定停车位置过程中对于雷达、摄像头等传感器的资源消耗。能够通过通道指引标识，确定停车楼层的信息，能够降低识别停车楼层的标识的难度，也可以避免由于停车场建筑结构等对于识别停车楼层的影响，也可以提高所确定的停车楼层的准确度。
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图1是本申请实施例提供的一种车辆的功能框图示意图。
图2是本申请实施例提供的一种车辆传感器及布置位置的示意图。
图3是本申请实施例提供的一种车辆进入停车场的场景的示意图。
图4是本申请实施例提供的一种车辆停车的场景的示意图。
图5是本申请实施例提供的一种车辆停车的场景的示意图。
图6是本申请实施例提供的一种车位的标识的图像的示意图。
图7是本申请实施例提供的一种车位与车位的标识间的位置关系的示意图。
图8是本申请实施例提供的另一种车辆停车的场景的示意图。
图9是本申请实施例提供的一种立柱的示意图。
图10是本申请实施例提供的一种确定车辆位于停车场区域的方法的示例性流程图。
图11是本申请实施例提供的一种启动传感器的方法的示例性流程图。
图12是本申请实施例提供的一种识别车位的标识的方法的示例性流程图。
图13是本申请实施例提供的一种停车位的图像的示意图。
图14为本申请实施例提供的一种交互界面的示意图。
图15是本申请实施例提供的一种识别停车区域的方法。
图16是本申请实施例提供的另一种交互界面的示意图。
图17是本申请实施例提供的一种指示停车位置的交互方法的示例性流程图。
图18是本申请实施例提供的一种交互界面的示意图。
图19示出了本申请实施例提供的一组图形用户界面。
图20示出了本申请实施例提供的又一组图形用户界面。
图21可以是本申请实施例提供的一种识别停车区域的示例性流程图。
图22是本申请实施例提供的一种识别停车区域的方法。
图23是本申请实施例提供的一种识别车位的标识的方法的示意性流程图。
图24是本申请实施例提供的一种识别停车区域的方法的示意性流程图。
图25是本申请实施例提供的一种识别车位的标识的方法的示意性流程图。
图26是本申请实施例提供的一种识别车位的标识和停车区域的方法的示意性流程图。
图27是本申请实施例提供的一种识别车位的标识的方法的示意性流程图。
图28是本申请实施例提供的一种识别停车区域的方法的示意图。
图29是本申请实施例提供的一种智能寻车的交互方法的示意性流程图。
图30是本申请实施例提供的一种识别停车区域的方法的示意性流程图。
图31是本申请实施例提供的一种停车交互的方法的示意性流程图。
图32是本申请实施例提供的一种确定车辆位于停车场区域的装置的结构示意图。
图33是本申请实施例提供的一种启动传感器的装置的结构示意图。
图34是本申请实施例提供的一种识别车位的标识的装置的结构示意图。
图35是本申请实施例提供的一种识别停车区域的装置的结构示意图。
图36是本申请实施例提供的一种指示停车位置的交互装置的结构示意图。
图37是本申请实施例提供的另一种识别停车区域的装置的结构示意图。
图38是本申请实施例提供的一种停车交互的装置的结构示意图。
图39是本申请实施例提供的一种装置的结构示例图。
图40是本申请实施例提供的一种系统的示意图。
具体实施方式
下面将结合附图，对本申请实施例中的技术方案进行描述。
示例性地，图1是本申请实施例提供的车辆100的一个功能框图示意。车辆100可以包括感知系统120、显示装置130和计算平台150，其中，感知系统120可以包括感测关于车辆100周边的环境的信息的若干种传感器。例如，感知系统120可以包括定位系统，定位系统可以是全球卫星导航系统，比如GPS、北斗系统或者其他定位系统，惯性测量单元(inertial measurement unit，IMU)、激光雷达、毫米波雷达、超声雷达以及摄像装置中的一种或者多种。
车辆100的部分或所有功能可以由计算平台150控制。计算平台150可包括处理器151至15n(n为正整数)，处理器是一种具有信号的处理能力的电路，在一种实现中，处理器可以是具有指令读取与运行能力的电路，例如中央处理单元(central processing unit，CPU)、微处理器、图形处理器(graphics processing unit，GPU)(可以理解为一种微处理器)、或数字信号处理器(digital signal processor，DSP)等；在另一种实现中，处理器可以通过硬件电路的逻辑关系实现一定功能，该硬件电路的逻辑关系是固定的或可以重构的，例如处理器为专用集成电路(application-specific integrated circuit，ASIC)或可编程逻辑器件(programmable logic device，PLD)实现的硬件电路，例如FPGA。在可重构的硬件电路中，处理器加载配置文档，实现硬件电路配置的过程，可以理解为处理器加载指令，以实现以上部分或全部单元的功能的过程。此外，还可以是针对人工智能设计的硬件电路，其可以理解为一种ASIC，例如神经网络处理单元(neural network processing unit，NPU)、张量处理单元(tensor processing unit，TPU)、深度学习处理单元(deep learning processing unit，DPU)等。此外，计算平台150还可以包括存储器，存储器用于存储指令，处理器151至15n中的部分或全部处理器可以调用存储器中的指令，执行指令，以实现相应的功能。
示例性地，图2是本申请实施例提供的一种车辆传感器及布置位置的示意图。
示例性地，车辆可以包括多个传感器，比如，雷达传感器、摄像头传感器等。其中，雷达传感器可以是激光雷达、毫米波雷达、超声波雷达等类型的雷达，摄像头传感器可以是，前视摄像头、后视摄像头、侧向摄像头、鱼眼摄像头等。图2示出了部分常见的传感器类型及安装位置，但是本申请实施例对车辆传感器的类型、数量、位置不作限制。
激光雷达(light detection and ranging，Lidar)是指利用激光束进行探测的雷达。由于激光具有的高相干性、方向性、单色性等优点，激光雷达能够实现远距离、高精度的测距功能。激光雷达可以通过扫描或多元阵列探测的方式，将单点的测距结果扩展到二维，形成距离图像，从而激光雷达可以用于识别物体的准确位置和形状。例如，如图2所示，车辆可以包括朝向分别为前向、左向、右向的3个激光雷达。
毫米波雷达，是指利用毫米波进行探测的雷达。与红外、激光等光学波束相比，毫米波穿透雾、烟、灰尘的能力强，因此毫米波雷达具有全天候的特点。而且短的波长容易获得目标的细节特征和清晰轮廓成像等特点，可以用于目标分类和识别。毫米波雷达可以用于识别物体的距离和速度。例如，如图2所示，车辆可包括6个毫米波雷达，其中，前向1个、后向1个，侧向4个。超声波雷达，是指利用超声波进行探测的雷达，在短距离测量中，超声波测距传感器具有非常大的优势。例如，如图2所示，车辆可以包括多个超声波雷达。
示例性地，车辆可以设置有一种或多种类型的摄像头，比如，长焦摄像头、广角摄像头、单目摄像头、双目摄像头、鱼眼摄像头、线性摄像头等。例如，如图2所示，前视相机可以包括长焦摄像头、广角摄像头、单目摄像头、双目摄像头、鱼眼摄像头、线性摄像头等类型的摄像头。
应理解，以上关于传感器类型、数量及其布置位置的描述只是示例，以便于说明，本申请实施例对此不做限定。
示例性地，图3是本申请实施例提供的一种车辆进入停车场的场景的示意图。停车场入口可以包括道闸，道闸可以控制道路的可通行性。例如，如图3中的(a)所示，道闸处于关闭状态时，道路关闭，车辆可能无法正常通过，车辆可以在道闸前减速或停止，至道闸开启，在道闸处于开启状态时，如图3中的(b)所示，车辆可以正常通过该道闸控制的道路，比如进入停车场等场所。应理解，以上关于道闸的描述只是举例，以便于说明，应理解，道闸也可以是图3所示之外的其他形式，本申请实施例对此不做限定。
为了便于解释和说明，示例性地，图4是本申请实施例提供的一种车辆停车的场景的示意图。其中，如图4所示，该停车场可以包括多个楼层，比如楼层350和楼层360可以是该多个停车场楼层中的任意两个楼层；一个楼层可以包括多个车位，其中一个或多个车位被占用，比如车位308等，空闲车位可以用于其他车辆停车，比如，待停车的车辆302可以驶入并停止在车位304、车位306等，停车位可以标注有标识，比如标识305可以为车位304的标识，即该车位304的标识可以为“A106”，一个楼层可以包括多个用于停车的区域，比如，楼层350可以包括区域316、区域317、区域318等；该多个区域可以属于同一个停车区域，比如，该区域316至318可以属于停车区域标识“A区”所指示的区域，也可以是属于多个停车区域，比如，该区域316可以属于停车区域标识“A区”所指示的区域，区域317可以属于停车区域标识“B区”所指示的区域；一个楼层可以包括多个标志物，比如立柱319、320、322、324、326、327、342、344等可以是楼层间的立柱，该立柱可以包括楼层信息和/或停车区域标识，比如，立柱319上可以标注有停车区域标识“A区”，立柱344可以标注有“E区”、“地下一层”等；停车场还可以包括其他标识，比如，图4中所示箭头可以用于指示行驶方向，又比如，如图4所示，停车场可以包括标识牌346，该标识牌346可以处于悬挂状态，该标识牌346可以标注有标识(比如，停车分区的标识、楼层的标识、消防标识等其他标识)；楼层可以包括封闭或半封闭的内墙，该内墙也可以包括楼层标识和/或停车区域标识等，比如内墙328。应理解，以上车辆停车场景的描述只是示例，以便于说明，例如，停车场可以包括更多或更少的楼层，比如，仅包括楼层350的室内停车场、室外停车场，等等。
为了便于解释和说明，示例性地，图5是本申请实施例提供的一种车辆停车的场景的示意图。其中，如图5所示，该场景可以包括多个车位，其中一个或多个车位被占用，比如车位408，空闲车位可以用于其他车辆停车，比如车位404和车位406，停车位可以标注有标识，比如标识412可以为车位406的标识，即该车位406的标识可以为“A107”，其他车位的标识类似。如图4所示，虚线414可以 是该车辆402的行驶轨迹，也可以是停车规划路线，还可以是二者的结合，根据该轨迹，车辆402最终可以停止于车位404。当车辆停止于车位时，比如停止于车位408的车辆410，由于空间的限制，车位的长度和宽度可能与该车辆的长度和宽度接近，由此即便该车辆具有多个可以采集周边环境的摄像头等传感器，由于传感器的安装位置和/或感知范围的限制，如图5所示，已停止于车位408的车辆410可能无法采集该车位408的图像，可能无法获取该车位的标识“A106”，如果需要该车辆通过自身的传感器获取车位的标识，车辆可能需要位于该车位之外，比如，车辆402在其停车过程中，车辆的部分或者全部位于车位404之外时，可以通过自身的摄像头传感器采集该车位的图像，获得该车位的标识“A106”。
应理解，以上关于车位的标识的描述只是举例以便于说明，车位的标识也可以是其他形式，例如，标识可以是纯数字的形式(比如“0347”)，也可以是字母、符号和数字的结合(比如“A-232”)等，应理解，本申请实施例对于车位的标识的形式不做限定。
一些可能的场景中，图4所示停车场景可以与图5所示停车场景结合，比如，图5可以是图4所示停车场350部分区域的俯视视角，相应地，图5的车辆402可以为图4的车辆302，图5的车位404可以为图4的车位304。
为了便于解释和说明，示例性地，图6是本申请实施例提供的一种车位的标识的图像的示意图。以下结合图5对图6进行说明，示例性地，车辆的摄像头传感器所采集的周边环境的图像，依赖于该车辆的位置，图6中的(a)、(b)、(c)和(d)可以是车辆402在其停车过程中，在某一时刻，车辆自身的摄像头传感器，所采集的车位图像中包括车位标识的部分，其中，图6中的(a)可以包括车位404的车位标识“A106”，图6中的(b)可以包括车位406的车位标识“A107”，图6中的(c)和(d)可以包括车位404的车位标识“A106”中的一部分。示例性地，所获取的车位的标识，可以指示目标车位。例如，在根据车辆自身的摄像头，由于车辆402最终停止于车位404，获得如图5中的(a)所示的车位的标识时，可以获知车辆最终停止于“A106”所指示的车位，即该标识与车辆所在车位一致；又例如，获得如图5中的(b)所示的车位标识“A107”时，虽然该标识并未正确指示该车辆所在车位404，但是由于“A107”所指示的车位406邻近于车辆所在车位404，在一定程度上，该标识也可以指示车辆所在车位，用户在根据该标识“A107”寻车时，并不会出现较大的偏差；又例如，仅根据图5中的(c)或(d)可能无法获知车辆所在车位的标识，可以通过其他方式获知该车位的标识，比如，可以基于采集的图片中其他车位的标识，结合车位的标识的设定规则，预估该车辆所在车位的标识，也可以根据多个图像对车位的标识进行补全，得到该车辆所在车位的标识。应理解，以上关于车位的标识的描述只是说明，本申请实施例对此不做限定。
示例性地，图7是本申请实施例提供的一种车位与车位的标识间的位置关系的示意图。其中，图7中的(a)、(b)和(e)为垂直车位，图6中的(c)为水平车位，图6中的(d)为斜向车位。
示例性地，车位的标识可以位于该车位所包括区域之内，也可以位于该车位所包括的区域之外，还可以位于该车位所包括的区域之上。例如，如图7中的(a)、(c)、(d)所示，车位的标识可以位于该车位所包括的区域之内；如图7中的(b)所示，车位的标识可以位于该车位所包括的区域之外；如图7中的(e)所示，车位的标识也可以位于车位所包括的区域之上，也就是说，标识可以是以三维空间标注的方式指示该车位所在区域，等等。应理解，以上关于车位与该车位的标识之间的位置关系的描述只是举例以便于说明，本申请实施例对此不做限定。
为了便于理解和说明，示例性地，图8是本申请实施例提供的另一种车辆停车的场景的示意图。其中，箭头可以为该停车场所指示的车辆行进方向，车辆702为待停车或正在停车中的车辆，该停车场可以包括多个停车分区，比如，虚线所包围的区域716、区域717，区域716可以包括车位704、车位706等多个车位，车位704可以为该车辆最终停车的车位(图7未示出)，车位706为其临近的空闲车位，区域717也可以包括多个车位，障碍物719、720可以是立柱，该立柱上可以包括区域716所在停车区域的标识，障碍物722和724也可以是立柱，该立柱722和724上可以包括区域717所在停车分区的标识，区域716和区域717可以属于同一个停车分区，也就是说，可以属于同一个停车分区的标识所指示的停车分区，比如，区域716和区域717都属于停车区域“H区”，立柱720和722可以包括标识“H区”，也可以属于不同的停车分区，不同的停车分区可以通过不同的停车区域标识进行区分，比如，区域716可以属于停车区域“H区”，区域717可以属于停车区域“G区”，该场景中可以包括 停车场的内壁(图8未示出)，该内壁上也可以标注有停车区域的标识，比如该内墙上可以标注有“区域A”等停车区域的标识，如图8中的停车位可以标注有停车位的编号，比如车位704的编号可以为“A104”(图8未示出)，虚线730可以为区域入口，虚线732可以为区域出口，入口730可以与道路752相连，出口732可以与道路762相连，道路752、762可以是与该停车区域处于同一平面的道路，也可以是坡道，比如，该道路可以属于楼层间通道，通过该道路可以驶入另一楼层。
一些可能的场景中，图3、图4、图5可以与图8所示场景结合，比如，图8可以是图4所示停车场350中的部分区域的俯视视角，图8中的车辆702可以为图4中的车辆402，图8中的车位704、706、708可以分别对应于图4中的车位304、306、308，也可以对应于图6中的车位404、406、408，图8中区域出入口，也可以是图3中所示停车场出入口所在道路相连。
应理解，以上关于停车场景的描述只是示例以便于说明，本申请实施例对此不做限定。
示例性地，为了便于解释和说明，图9是本申请实施例提供的一种立柱的示意图。其中，图9中的(a)示出了立柱810，立柱810可以包括停车区域的标识，平面811包括标识815、平面813包括标识817，标识815和/或标识817可以指示停车区域，比如立柱850可以为图8中的立柱720，标识815和/或标识817可以为区域716所属停车区域的标识。类似地，图8中的(b)示出了立柱850，比如，该立柱可以是图8中的立柱722或724，该立柱的标识855和/或857可以为区域718所属的标识。
示例性地，立柱也可以具有其他标识。例如，如图8中的(a)所示，立柱850的表面811可以安装有安全出口指示装置819，该装置819可以包括用于指示安全通道的标识821，以及行进方向的标识823。
示例性地，停车区域可以包括多个层级，同一层级内的多个区域可以使用标识进行区分。例如，图9中的(c)所示立柱860，可以包括标识865“A”和标识867“17”，该立柱可以是图8中的立柱720，其中，标识867所指示的停车区域为标识865所指示的停车区域的一部分，比如，标识865所指示的停车区域为包括区域716和区域718的停车区域，即区域716和区域718可以处于同一层级，其中区域716的标识可以是“17”、“A17”，区域718的标识可以是“18”、“A18”，车位704所在的停车区域的标识可以是“A”，也可以是“17”，还可以是“A17”，标识867也可以与标识865在同一平面，等等。
应理解，以上关于停车区域的标识的描述只是举例，本申请实施例对此不做限定。
应理解，以上关于立柱的描述只是举例以便于说明，立柱也可以是其他形状，比如圆柱形等，应理解，本申请实施例对此不做限定。
如上所述，当前车辆行驶至停车场后，比如大型停车场等，由于其地形、环境复杂，而且部分停车场的GPS信号强度较弱，无法精准定位车辆所在位置，无法精确定位车辆所在位置，用户往往需要通过手动拍照的方式来记录车辆所在位置，使得用户的体验不佳。而对于某些与停车场景相关的功能，比如对于空闲车位的查找、辅助停车等，往往需要用户手动或语音触发，无法直接为用户提供该场景下的相关需求，也会使得用户的使用体验不佳，进一步地，在自动驾驶或用户远程操纵车辆的情况下，若依然通过用户手动或语音触发的方式触发与停车场景相关的功能，会导致用户使用体验的进一步降低。本申请实施例中提供了一种确定车辆位于停车场区域的方法，能够根据车辆的状态参数结合停车场标志物的检测结果，确定该车辆是否位于停车场所在区域，有助于智能触发与停车场景有关的功能，有助于提高用户的使用体验。
示例性地，图10是本申请实施例提供的一种确定车辆位于停车场区域的方法的示例性流程图，该方法900可以包括以下部分或全部步骤。
S910，获取第一状态参数。
示例性地，该第一状态参数可以包括GNSS信号的信号质量、车速、车辆与停车场入口的距离中的至少一项。
示例性地，该第一状态参数可以包括GNSS信号的信号质量。例如，在进入地下停车场、立体车库等室内的停车场的过程中，由于外部环境对GNSS信号的遮挡，可能导致该场景下GNSS信号的信号强度较差，根据该信号质量较差的GNSS信号可能无法实现车辆的定位，或者对于车辆的定位存在较大的误差，即便用户所使用的终端设备(比如手机、平板电脑等)、用户所驾驶的车辆可以利用地图软件进行导航，由于无法根据GNSS信号确定自身的位置，可能无法结合地图信息确定该车辆是否将驶入停车场，由此，可以根据GNSS信号的信号强度，比如在GNSS信号的信号强度小于或等于-90Bm 时，启动雷达、摄像头等传感器采集周边环境的数据，以确认车辆所处场景，从而可以避免车辆中的雷达、摄像头等传感器的全程开启，可以节省用于传感器的开销；又例如，当车辆天线视野上方的卫星个数大于或等于某一阈值(比如5个)时，GNSS卫星才能为车辆提供有效的信号，由于外部环境对GNSS信号的遮挡，当前天线上方的卫星数可能小于该阈值，由此，可以根据当前视野上方的卫星个数，启动雷达、摄像头等传感器采集周边环境的数据，以确认车辆所处场景。
示例性地，该第一状态参数，可以包括车速。例如，在进入地下停车场、立体车库等室内建筑的过程中，由于该场景下的驾驶环境较复杂，车辆可以以较低车速行驶，由此，在确定车辆以较低速度行驶时，可以启动传感器采集数据。
示例性地，该第一状态参数，可以包括车辆与停车场入口的距离。例如，可以结合地图信息以及车辆的位置，确定车辆距离停车场入口的距离，比如，用户使用地图软件导航至停车场的过程中，可以结合地图信息以及车辆的位置，确定车辆距离停车场入口的距离，当车辆距离停车场入口的距离小于或等于预设距离时，可以控制传感器开启，采集周边环境的数据。
示例性地，该第一状态参数可以是GNSS信号的信号质量、车速、车辆距离停车场入口的距离之间的结合。例如，可以结合车辆距离停车场入口的距离和GNSS信号的信号质量，确定触发传感器采集数据的时机，比如，车辆在行驶至地下停车场的过程中，时刻1时，结合地图可以确定车辆距离停车场入口的距离小于或等于预设距离(比如30米)，所获取的GNSS信号的信号强度大于预设阈值，随着车辆的行驶，所获取的GNSS信号的信号强度发生变化，在时刻2时，车辆距离停车场入口的距离依然小于或等于预设距离，该GNSS信号的信号强度小于或等于预设阈值，时刻2晚于时刻1，可以在时刻2时，触发传感器采集数据；又例如，车辆在行驶至地下停车场的过程中，可能需要经过道闸才能进入停车场，比如，如图3所示，比如，在时刻3时，车辆的车速小于或等于预设阈值，可以结合GNSS信号强度、车速和第一距离，触发传感器采集数据，从而可以避免过早启动传感器，可以节省传感器的开销。应理解，以上根据第一状态参数，触发传感器采集周边环境数据的描述只是示例，以便于说明，本申请实施对此不做限定。
S920，在该第一状态参数小于或等于第一阈值时，进行停车场标志物检测。
示例性地，可以根据感知传感器采集的数据，进行停车场标志物检测，该感知传感器可以包括雷达传感器和/或摄像头传感器，相应地，该周边环境数据可以包括雷达传感器采集的数据，和/或，摄像头采集的图像。例如，该感知传感器可以包括雷达，比如激光雷达，在车辆GNSS信号的信号质量小于或等于第一阈值时，可以启动雷达采集数据，从而可以根据激光雷达所采集的数据确定车辆是否处于进入停车场的场景下；该感知传感器可以是摄像头传感器，比如鱼眼摄像头等、前视摄像头、侧视摄像头等，在GNSS信号的信号质量小于信号质量的阈值，而且该车辆距离停车场入口的距离小于或等于预设距离时，可以触发该摄像头传感器采集数据，从而可以根据该摄像头所采集的数据确定车辆是否处于进入停车场的场景下；在确定第一状态参数小于或等于第一阈值时，若感知传感器已处于开启状态，可以获取该感知传感器在该时刻后所采集的数据，从而进行停车场标志物检测；可以对感知传感器采集的数据经数据处理(比如滤波、特征提取等)后，进行停车场标志物检测。应理解，以上关于感知传感器的描述只是举例以便于说明，本申请实施例对此不做限定。
示例性地，在该第一状态参数小于或等于第一阈值时，可以启动该感知传感器，并获取该感知传感器所采集的数据。其中，启动感知传感器，可以是控制该感知传感器开启并采集周边环境数据，也可以是向其他控制装置或感知传感器发送消息，该消息可以用于指示感知传感器启动，在该感知传感器已处于开启状态时，该消息可以用于指示维持该传感器处于开启状态。例如，由车辆执行该方法时，在确定该第一状态参数小于或等于第一阈值时，该车辆可以控制自身的感知传感器开启，比如，开启图2所示前视摄像头等，获取该感知传感器所采集周边环境数据；又例如，由芯片、车机、车载电脑等装置执行该方法时，该芯片可以向传感器或传感器控制装置发送消息，该消息可以用于指示启动一个或多个感知传感器。
示例性地，根据感知传感器采集的数据，可以进行停车场标志物检测。例如，该停车场标志物，可以是停车场道闸、停车位、具有停车区域标识的立柱、停车场的引导标志等，比如，可以对所获取的周边环境数据进行特征提取等，检测是否存在停车场标志物述。应理解，本申请实施例对检测停车场标志物的方法不做限定。
S940，在检测到停车场标志物时，确定车辆位于停车场区域。
示例性地，在周边环境数据中包括停车场标志物时，可以确定车辆位于停车场区域。例如，停车场标志物可以是停车场中不会移动的物体、标识等，比如停车场道闸、停车位、停车场引导标识、停车场指示标识等；又例如，根据第一状态参数，可以触发车辆感知系统中的传感器，比如雷达、摄像头等，该传感器可以采集周围的环境信息，根据传感器采集的数据，比如摄像头采集的图像中可以包括停车场道闸、停车位、停车场的引导标志等，根据激光雷达采集的点云数据可以识别道闸等，通过相应的检测方法，比如，可以对图像、点云数据进行特征提取，通过深度学习网络等识别道闸、停车位等标志物，可以确定车辆位于停车场区域；再例如，车辆位于停车场区域，可以是车辆已处于停车场内部，也可以是车辆处于停车场入口，车辆从该入口可以进入该停车场，也就是说停车场区域可以包括停车场入口所在区域。应理解，以上关于停车场标志物、停车场区域的描述只是示例，以便于说明，本申请实施例对此不做限定。
示例性地，在确定车辆位于停车场区域之后，可以启动第一传感器，控制该第一传感器采集周边环境数据，该周边环境数据可以用于停车区域的标志物检测。例如，在感知传感器采集数据之后，可以关闭该传感器，根据该感知传感器采集的数据检测到停车场标志物之后，可以开启感知系统中的一个或多个传感器，以获取周边环境数据，比如，该周边环境数据可以用于停车区域的标志物的检测，从而实现在停车场环境下的传感器的自动开启，可以控制该一个或多个传感器采集数据，以便于为相应地功能提供所需的数据。
示例性地，在确定车辆位于停车场区域之后，可以控制启动第一功能。
示例性地，该第一功能可以应用于停车场景。例如，在根据摄像头的数据，确定车辆行驶至停车场后，可以唤醒、触发与停车场景相关的功能模块，比如可以触发识别车位的功能，从而可以根据感知传感器所采集的数据确定环境中的空闲车位等，可以将该空闲车位在车舱内的屏幕、用户的手机等终端中显示，又比如，可以触发识别停车区域、停车楼层的功能，以确定车辆停车时所在的停车区域、停车楼层，又比如，可以触发自动停车系统启用以实现自动停车功能，从而可以在无需用户下达指令的情况下，可以实现相关功能的触发以及场景模式的跳转，从而可以提高用户体验，再比如，可以启动车辆位置推理功能，比如推理车辆实时的位置；再例如，可以触发同步定位与建图(simultaneous localization and mapping，SLAM)，从而可以通过建立停车场的地图，可以将该建立的地图存储与数据库中，以便于用户后续在该停车场停车时，通过调用该数据库中的地图，实现自动停车，也可以基于该地图实现用户对于车辆的远程操控，比如通过对车辆行驶轨迹的记录以及该地图，可以实现用户在停车场外远程操控车辆行驶至其附近，从而可以避免用户的寻车的过程，可以提高提升用户体验。
示例性地，控制开启该第一功能，可以是直接控制启动该第一功能，比如，执行该方法的车辆控制装置在确定车辆进入停车场后，可以调用其与停车场景相关的功能，也可以是通过向其他装置发送消息的方式控制启动该第一功能，比如，执行该方法的芯片、车机等装置在确定车辆进入停车场后，可以向其他芯片、装置等发送消息，该消息可以用于指示启动该第一功能。
应理解，以上关于第一功能的描述只是举例以便于说明，本申请实施例对此不做限定。
本申请实施例中，在第一状态参数小于或等于第一阈值时，获取周边环境数据，可以降低对传感器采集周边环境数据的依赖，可以减少传感器的工作时间，从而降低传感器的功耗，通过停车场标志物检测，可以确定车辆是否位于停车场区域，有助于车辆在无需用户操作的情况下启动与停车相关的功能，从而有助于提高用户体验。
如上所述，由于部分停车场的地形、环境较为复杂，在实际停车场景中，停车场可能会出现无空闲车位、空闲车位较少等情形，当车辆在该停车场停车的过程中，在驶入停车位之前，可能存在比较久的寻找车位的过程，部分与停车场景相关的功能、处理器、传感器等，比如车位的识别、停车区域的识别等功能及相关传感器，若从车辆进入停车场即启动，可能会获取大量无效的数据，采集、处理该无效数据一方面可能造成较大的资源开销，另一方面根据该数据处理得到的无效结果可能会影响该功能的正常运行。本申请实施例提供了一种获取传感器的数据的方法，在确定用户存在停车意愿时，启动与停车场景有关的传感器，从而可以节省相应的用于传感器的资源开销，也可以避免传感器采集的无效数据对相关的功能干扰。
示例性地，图11是本申请实施例提供的一种启动传感器的方法的示例性流程图。该方法1000可 以包括以下部分或全部步骤。
S1010，获取语音指令或用户操作信息。
示例性地，用户可以与车辆、终端设备等进行语音交互。例如，用户可以通过语音唤醒词、按压实体按键或虚拟按键等方式与车辆、手机等进行语音交互，在开始语音交互后，车辆等可以获取用户在该语音交互中所下达的语音指令。
示例性地，用户可以对车辆进行操纵，根据用户的操纵，可以获取用户操作信息。例如，在用户转动方向盘时，可以获取方向盘转角，用户踩下制动踏板时，可以获取制动踏板行程，用户在调整档位时，可以获取档位信息，用户在通过中控屏等交互设备进行交互时，可以获取用户通过该交互设备进行的操作。应理解，以上关于获取语音指令、用户操作信息的方式只是举例，本申请实施例对此不做限定。
S1020，根据该语音指令，检测停车语音指令，在检测到停车语音指令时，启动一个或多个感知传感器，或根据用户操作信息，检测第一操纵，在检测到第一操作时，启动一个或多个传感器。
示例性地，停车语音指令，可以是表示用户存在停车意图的语音指令。例如，在语音交互中，用户可以下达“我要停车”、“启动自动停车”、“寻找车位”等可以表示用户存在停车意图的语音指令，相应地，可以通过麦克风等采集用户的语音指令，通过获取用户的语音指令，可以识别其中具有停车意图的语音指令。
应理解，以上关于停车语音指令的描述只是举例，本申请实施例对此不做限定。
示例性地，检测第一操作，该第一操作可以用于指示用户存在停车意图。例如，该第一操作可以是用户触发停车意图的实体或虚拟按键、按钮等，比如，用户可以在中控屏等可交互装置中点击“自动停车”的虚拟按键、可以按压车舱内“自动停车”功能的实体按键等，在检测到用户的上述操作时，可以确定存在停车意图；又例如，用户可以在手机等终端设备进行远程停车，并将该远程停车的指令发送给车辆，相应地，车辆可以获取该指令，通过该指令可以确定用户存在停车意图；再例如，用户可以在中控屏等可交互装置中指示期望停车的车位，通过检测该信息可以确定用户存在停车意图。
示例性地，可以结合车辆所处区域，确定用户存在停车意图，也就是说，对于第一操作的检测可以与车辆所处场景相结合。例如，在确定车辆位于停车场区域后，用户可以操纵车辆倒车驶入车位，由此在检测到档位调整为倒车档时，可以确定用户存在停车意图；又例如，可以通过结合车辆的车速和用户的操作确定用户存在停车意图，比如，在确定车辆行驶至停车场时，在用户控制加速踏板、加速手动拨片、制动踏板等，将车速控制在停车车速阈值(比如2km/h)之内时，可以结合该停车场的场景以及车辆的状态信息，通过检测用户的操作可以确定用户存在停车的意图。
应理解，以上关于第一操作的描述只是举例以便于说明，本申请实施例对此不做限定。
示例性地，在确定用户存在停车意图后，可以启动一个或多个感知传感器，控制该一个或多个感知传感器采集周围环境数据，其中，该传感器可以是摄像头、雷达等传感器，该周边环境数据可以是摄像头和/或雷达采集的数据。
示例性地，启动感知传感器，可以是控制该感知传感器开启并采集周边环境数据，比如，可以是向其他控制装置(比如传感器控制装置)或传感器发送消息，该消息可以用于指示启动传感器，该传感器开启后可以采集周边环境数据。
示例性地，在控制启动该传感器时，若该传感器已经开启，控制启动该传感器，可以是指控制该传感器处于开启状态，以获取该传感器后续采集的数据。
示例性地，可以控制该感知传感器采集数据。例如，启动该感知传感器后，该感知传感器可以自动采集数据；当该传感器启动后处于休眠、低功耗等未采集数据的模式，也可以对该传感器的工作模式进行切换，控制其采集数据。
应理解，以上关于启动传感器采集数据的描述，只是示例以便于说明，本申请实施例对此不做限定。
由于车辆位于停车场区域时，可能存在无空闲车位、寻找空闲车位的情况，本申请实施例中，在确定用户存在停车意图时，启动传感器，可以降低传感器的工作时长，可以降低传感器的开销。
进一步地，可以获取该一个或多个传感器采集的数据，其中，在获取多个传感器采集的数据时，该多个传感器可以是安装于不同位置的同一类型的传感器，也可以是安装于不同位置的不同类型的传 感器。例如，在检测到档位调整为倒车档时，可以获取如图2所示的后视摄像头所采集的数据；在检测到第一操作、“我要停车”等语音指令时，可以获取如图2所示的多个激光雷达，和/或，多个摄像头所采集的数据，也可以是获取该多个雷达、摄像头所采集的数据，经融合处理后的数据。应理解，本申请实施例对此不做限定。
示例性地，根据传感器所采集的数据，可以确认车辆在停车过程中所处的环境信息。例如，根据摄像头传感器、雷达等传感器采集的环境数据，车辆、车机系统、处理器或者芯片等可以确定停车场中的被占用的车位、空闲车位及其车位号、其他车辆、停车场立柱、停车场指示标识、区域标识以及其他障碍物信息等；又例如，车辆控制装置、车载芯片等，比如座舱域控制器，可以获取该多个传感器所采集的数据，从而确定车辆在停车过程中所处的环境信息，该座舱域控制器可以是直接从该传感器获取其所采集的数据，也可以是通过其他装置获取该传感器所采集的数据，比如，自动停车辅助(automated parking assist，APA)系统可以获取该传感器所采集的数据，进一步地，座舱域控制器可以从该自动停车辅助系统获取该传感器所采集的数据，当APA系统可以对传感器所采集的数据进行处理时，相应地，座舱域控制器获取该传感器所采集的数据，也可以是，座舱域控制器获取该APA系统所处理后的传感器采集数据。
应理解，以上关于获取传感器的数据的方法只是示例以便于说明，本申请实施例对此不做限定。
本申请实施例中，在确定用户存在停车意图时，获取传感器采集的周边环境数据，可以节省用于处理周边环境数据的开销。进一步地，在确定用户存在停车意图时，启动传感器，可以在无需用户手动开启传感器的情况下，实现传感器的开启，可以降低传感器的开销，也可以提高用户的使用体验。
如上所述，当前车辆行驶至停车场后，比如大型停车场等，由于其地形、环境复杂，而且部分停车场的GPS信号强度较弱，无法精准定位车辆所在位置，无法精确定位车辆所在位置，用户往往需要通过手动拍照的方式来记录车辆所在位置，使得用户的体验不佳。本申请实施例提供了一种识别车位的标识的方法，能够识别车辆所在车位，有助于用户在无需使用手机等终端设备对停车位拍照的情况下，获知该车位的标识，以便于用户通过该标识获知该车辆的位置，便于用户对车辆进行寻找。
示例性地，图12是本申请实施例提供的一种识别车位的标识的方法的示例性流程图。该方法1100包括以下部分或全部步骤。
S1110，获取第一车位图像。
示例性地，该第一车位图像可以包括目标车位在内的至少一个车位。例如，如图5所示，由于传感器的安装位置等因素的限制，已停靠在停车位的车辆410，可能无法通过其自身摄像头获取其所在车位408的图像，由此可以在车辆402的停车过程中，车辆的部分或全部位于车位之外时，摄像头采集该车位的图像，比如，该车辆的摄像头传感器可以采集该其车位404及该车位的标识“A106”的图像，该图像中还可以包括车位404临近的其他车位的部分或全部，也就是说，该第一车位图像可以包括该至少一个车位的部分或全部。
示例性地，第一车位图像可以是该至少一个车位在多个时刻的图像。例如，由于车辆中的摄像头对于周围环境的图像的采集依赖于该车辆的位置，如图5所示，在车辆402从当前位置驶入停车位404的过程中，根据中间某一时刻该摄像头所采集的图像，可能无法识别得到与车位相关的信息，比如摄像头所采集的关于车位编号的图像可能是如图5中的(b)、(c)和(d)所示的字样，其中，图6中的(b)中的字样“A107”虽然并不是该车辆的目标停车位404的编号“A106”，但是由于根据该字样所获得的车位编号依然可以模糊指示该车辆402所停的位置，在某种程度上该信息也可以用于指示该车辆的停车位，比如，根据该信息用户可以基于停车场的车位查询系统获知其车辆所处的区域，该信息可能不会对用户造成过大的误导，但是就图6中的(c)和(d)而言，由于其中未包括完整的字样，该字样可能无法指示车辆的停车位，而根据第一时长内摄像头所采集的多张图像，可以确定该目标车位的编号，比如图6中的(c)和(d)为摄像头拍摄的连续两张图像中的车位编号的字样，可以通过连续光学字符识别(optical character recognition，OCR)融合识别方法，识别得到目标车位的编号“A106”，也就是说，根据第一时长内摄像头传感器所采集的多张图像，可以将单个图像中无法获取的信息，通过该多个图像融合得到，可以提高车位信息识别的准确度。该第一时长可以是任意时长，本申请实施例对此不做限定。
示例性地，可以根据车位指示信息，确定目标车位，该车位指示信息可以用于指示目标车位所处 区域。例如，如图5所示，车辆402驶入停车位之前，用户可以指示该车辆的停车位，比如，用户可以通过车载显示屏等座舱内的交互装置、手机等终端设备，指定该车辆将驶入的车位，或者，车辆可以对周围的空闲车位进行识别，并根据预设的规则确定该车辆的停车位，比如，车辆可以启用自动停车、辅助停车等功能，可以选择从当前位置到空闲停车位行驶距离最短的停车位作为该目标车位，也可以根据周边障碍物选择停车概率最高的空闲停车位为该目标车位等，由此可以获取车位指示信息；又例如，可以根据车位指示信息，确定目标车位所在区域之后，可以仅触发负责采集该车位所在区域的图像的至少一个摄像头工作(比如，触发图2中的后视摄像头等)，以此获取第一车位图像，从而可以在降低获取该图像的过程中所需的传感器开销；又例如，在使用自动停车、辅助停车等功能时，也可以结合车位指示信息，利用在识别车位时所采集的图像，比如可以通过对该图像的分割处理等，从而获取仅包含该车位的图像，以此可以避免再次采集该车位的图像，从而节省传感器的开销；又例如，车辆可以获取全景影像系统所采集的图像，根据用户对停车位的选择，确定该图像中目标车位的部分；再例如，根据全景摄像系统所采集的图像，比如，可以结合方向盘转角等预估车辆的行驶路径，从而可以确定该图像中目标车位的部分。应理解，以上关于车位指示信息的描述，只是示例以便于说明，本申请实施例对此不做限定。
为了便于解释和说明，图13是本申请实施例提供的一种停车位的图像的示意图。其中，图13中的(a)可以是图5中的车辆402在驶入车位404的过程中，通过车载摄像头所采集的图像，该图像可以在车载显示装置(比如中控屏等)显示，该显示界面还可以包括标记1151，该标记可以用于在图像中突出该目标车位404，通过该标记用户可以获知车辆将驶入该车位；图13中的(b)可以是根据图13中(a)的图像所确定的空闲停车位的示意图，其中区域1153可以表示车位406的部分区域，区域1155可以表示车位404的全部区域。
示例性地，可以根据第一车位图像中，多个车位所占的比例，确定该目标停车位。例如，车辆通过后视摄像头、前视摄像头等采集停车位的图像时，根据采集的图像，可以确定图像中多个车位所占的比例，比如，可以确定图13中的(b)中的区域1153和区域1155在所采集的图像中的大小或比例，确定该车辆的停车位，并由此确定该目标车位的图像；又例如，在摄像头(比如为鱼眼摄像头)所采集的图像存在较大畸变时，可以对该图像进行畸变校正后，确定该多个停车位在校正后的图像中所占的比例。
S1130，根据第一车位图像，确定目标车位的标识。
示例性地，根据该第一车位图像，可以确定该车位的标识。例如，可以通过对图像中包含的文字进行识别，比如，利用OCR技术对图像文字进行识别，从而可以获得停车位的标识，该标识可以是数字与字母的组合，如图5中的(a)所示“A106”，也可以是仅为数字，比如“0247”，也可以是仅为字母，还可以是颜色与数字、字母的组合等，为了简洁，此处不再一一举例说明。
示例性地，在确定车位的标识的过程中，可以对第一车位图像进行适当的处理。例如，为了节省数据处理中的开销，可以对传感器采集的数据进行处理，比如可以对图像进行文字检测，若检测出文字，可以对该文字所在的区域进行裁切，获得文字区域的图像，从而可以尺寸较小的图像进行图像处理，有利于节省用于数据处理的开销；又例如，在可以获取多张图像时，可以对多张图像中的文字部分进行提取，并相应地进行匹配，以此确定该车位的标识，可以提高所确定的标识的准确度。
示例性地，根据该第一车位图像，可以确定一个或多个文本，为了便于解释和说明，该文本也可以称为车位信息文本。例如，如图5所示，在车辆402从当前位置行驶至其预期停车位404的过程中，其摄像头所采集的数据中，除了可以包括车位的标识之外，还可以包括其他文字内容，比如可以包括“专用车位”、“消防车位”、“请勿占用”、被占用的车位上的车辆的牌照编号(比如“京A 00001”等)等，在对摄像头传感器所采集的停车位图像识别得到对应的文本时，可能会得到多个文本，可以从该多个文本中确定该车位的标识。
示例性地，可以根据该一个或多个车位信息文本的置信度，确定目标车位的标识。
示例性地，可以根据车辆行驶轨迹，确定车位信息文本的置信度。例如，如图5所示，车辆402从当前位置行驶至目标车位404的过程中，其摄像头所采集的多个时刻的图像中，可能包括多个文本，比如可以得到包括如图6中的(a)和(b)所示字样的多个时刻的图像，基于预设的坐标系，可以确定在该多个时刻中该多个文本的坐标，从而可以确定该多个文本对应的轨迹，结合车辆的行驶轨迹和/ 或规划轨迹，可以确定该文本的置信度，比如，图6中的(a)的文本所对应的轨迹与车辆402的行驶轨迹可以匹配，而图6中的(b)的文本所对应的轨迹与车辆402的行驶轨迹匹配程度较差，由此可以确定，图6中的(a)的文本的置信度高于图6中的(b)的文本，从而可以将图6中的(a)的文本“A106”确定为目标车位的标识，从而可以提高确定目标车位的标识的准确度。
示例性地，可以基于置信度规则，确定车位信息文本的置信度。例如，可以认为仅包括文字的文本(比如“消防栓”、“安全出口”等)为不合理的文本，从而可以对所获取的文字进行筛选，由此可以提高所获取的目标车位的标识的准确度；又例如，可以基于获取的置信度级别表，对从停车位图像所识别得到的文字进行置信度分析，比如，示例性地，表1为本申请实施例提供的一种车位标识的置信度级别的示例性表格，可以根据表1车位信息文本进行置信度排序，根据置信度确定目标车位的标识，以此提高所确定的目标车位的标识的准确性。应理解，以上置信度规则可以是预先配置的，也可以是通过其他方式获取的，本申请实施例对此不做限定。
应理解，以上关于置信度的描述只是示例，本申请实施例对此不做限定，比如，可以结合文本的长度、语义等确定文本的置信度。
表1
示例性地，可以控制车载显示装置显示目标车位的图像，其中，该车载显示装置可以是中控屏等实体显示器，也可以是抬头显示装置(heads up display，HUD)等虚拟显示器。例如，用户可以在中控屏等装置中指示目标车位，相应地，中控屏可以显示目标车位的图像，该图像可以包括目标车位的部分或全部，比如，仅包括目标车位的标识的部分等；又例如，在通过自动停车、辅助停车等方式停车时，可以在中控屏等装置显示目标车位，比如，可以在界面中增加标识以突出该目标车位，比如图13中的(a)；又例如，示例性地，图14为本申请实施例提供的一种交互界面的示意图，在确定该目标车位的标识之后，执行该方法的芯片、车机等装置，可以向其他装置发送用于指示目标车位的标识的消息，使得可以在中控屏等车载显示装置显示如图14所示界面，用户还可以对该提示予以反馈，比如，关闭该消息提醒(图14未示出)、点击“是”控件等。应理解，以上关于显示目标车位的方式，只是示例以便于说明，本申请实施例对此不做限定。
示例性地，在确定目标车位的标识之后，可以发送第一消息，该第一消息可以用于指示目标车位。例如，通过发送第一消息，使得用户可以在手机等终端设备获知该目标车位，比如可以在检测到用户将档位调整为停车档、拉起手刹、通过交互界面确认该车位的标识后、离开车辆或车辆熄火等情况下，发送第一消息，比如，可以直接发送给与该车辆蓝牙连接的终端设备，也可以通过网络设备等发送至终端设备，又比如可以通过网络发送至服务器，服务器将该消息发送至与该车辆登录/关联同一账户的终端设备，使得用户可以通过手机等终端设备获知该目标车位，从而可以使得用户无需通过手机、平板电脑等终端设备对停车位拍照的情况下，也可以获知该目标车位，从而可以提高用户的使用体验；又例如，在接收该第一消息后，手机等终端设备可以显示如图14所示信息，用户可以对该信息予以应答，比如，在用户予以肯定应答时，可以将该目标车位的标识保存在该手机或对应的服务器中，在用户予以否定应答时，手机等终端设备可以获取该目标车位的图像，通过该目标车位的图像提示用户该目标车位。应理解，以上关于第一消息的描述只是示例，本申请实施例对此不做限定。
本申请实施例中，根据目标车位的图像，可以确定目标车位的标识，有助于用户在无需使用手机等终端设备对停车位拍照的情况下，获知该车位的标识，以便于用户通过该信息获知该车辆的位置， 便于用户对车辆进行寻找。
如上所述，当车辆行驶至停车场后，比如大型停车场等，由于其地形、环境复杂，若根据车辆在停车场中所采集的图像直接指示、识别停车区域，一方面，由于该图像中可能包括各种可以移动的物体，比如临时停放的其他车辆等，随着时间推移该场景中的部分物体及其位置可能会变化，不利于用户直接基于该图像确定停车区域，另一方面，由于在实际场景中，停车场内的多个物体、位置可以具有各种标识，在采集停车场的环境图像之后，通过对图像的识别，可能得到多种与标识相关的文本，比如“地下一层”等楼层标识相关的文本、“安全通道”、“禁止吸烟”、“出口”等与停车区域无关的标识，虽然可以通过获取停车场的环境的图像获取该多个标识，但是从中筛选、获得停车区域标识，可能会需要比较大的运算开销，而且由于与停车区域无关的信息或标识较多，可能会降低识别停车区域的准确度。本申请实施例提供了一种识别停车区域的方法，通过对停车区域的标志物的检测，在检测到停车区域的标志物时，根据该标志物的图像确定停车区域，可以节省用于确定停车区域标识的开销，也可以提高所确定停车区域标识准确性，而且，在无法获取停车区域标识时，也可以基于该标志物提示车辆所在停车区域的信息，也有助于用户在无需通过手机等终端设备对停车区域拍照的情况下，获知车辆所处停车区域，便于用户寻车。
示例性地，图15是本申请实施例提供的一种识别停车区域的方法。该方法1400可以包括以下部分或全部步骤：
S1410，获取周边环境数据。
示例性地，该周边环境数据可以包括由雷达和/或摄像头等感知传感器采集得到的数据，比如可以包括雷达所采集的点云数据、可以包括摄像头所采集的图像数据等，该也可以包括雷达传感器和摄像头传感器所采集的数据，比如，可以将摄像头传感器和雷达传感器分别所采集的数据，进行融合处理后进行分析，该周边环境数据可以用于检测停车区域的标志物。应理解，本申请实施例对此不做限定。
示例性地，该周边环境数据可以用于检测停车区域的标志物，该停车区域的标志物可以包括停车区域中不会移动的物体。例如，如图8所示，车辆702可以根据其传感器采集的数据，检测其周围是否存在停车区域的标志物，比如如图8所示立柱720、立柱722、立柱724、停车场内墙728等。
一些可能的实现方式中，该停车区域的标志物为立柱。例如，如图4所示，相对而言，立柱在停车场中的分布密度会高于内墙，根据该立柱可以更加精细地区分停车区域，基于该立柱可以确定更加精准的停车区域。
S1430，在确定检测到该标志物时，获取该标志物的图像。
示例性地，在确定检测到该标志物时，可以获取感知传感器采集的该标志物的图像。例如，可以根据雷达传感器采集的数据，检测周边环境是否存在停车区域的标志物，在芯片、车机等装置或者车辆检测到存在标志物时，可以控制摄像头传感器采集该标志物的图像，比如可以在停车过程中开启多个摄像头采集该标志物多个角度的图像，从而可以根据多个图像获取该标志物更多的细节，该图像中可以包括其他物体，也可以开启该标志物所在区域对应的摄像头传感器，从而可以降低获取该标志物图像时的传感器的功耗；又例如，可以通过摄像头采集周围环境的图像，可以根据该图像实现对于该标志物的检测，在检测到该标志物时，可以对该图像中包含标志物的部分进行处理，比如对图像中的立柱区域进行裁剪，以获取该立柱的图像，也可以控制该摄像头或其他摄像头传感器采集该标志物的图像，比如，在图像质量无法达到预设要求时，可以再次采集该标志物的图像。应理解，以上关于获取标志物的图像的方法只是示例，本申请实施例对此不做限定。
在一些可能的实现方式中，当成功检测到标志物时，可以控制车载显示装置显示该标志物的图像。例如，当通过图像进行该停车区域的标志物的检测时，当根据该图像检测到该标志物时，可以在车载显示装置显示该标志物的图像，进一步地，可以在该显示器显示的界面中以线框等方式突出该标志物。
S1450，根据该标志物的图像，确定停车区域。
示例性地，不同的停车区域可以使用不同的标识进行区分，以便于进行管理。
示例性地，根据标志物的图像，可以确定停车区域标识，该停车区域标识可以用于指示停车区域。例如，如图9中的(b)所示的停车区域的标志物，在获取该标志物的图像之后，可以通过对图像中的文字进行识别，比如，利用OCR等技术识别该图像中的文字，从而可以获取停车区域的标识，该标识可以是字母和文字的组合，比如，B区，也可以仅是字母，比如“B”，还可以是其他方式，比如字母、 字符和数字的结合等。应理解，以上关于停车区域标识的描述只是举例，本申请实施例对此不做限定。
示例性地，在目标车位的标识包括区域关键字时，可以结合目标车位的标识，确定停车区域标识。例如，如图8所示，可以获取立柱720、立柱722、立柱724的图像，比如，立柱720可以包括区域716所属停车区域的标识，比如，该立柱720可以为如图8中的(a)所示，立柱722可以包括区域718所属停车区域的标识，比如该立柱722可以如图8中的(b)所示，目标车位可以为车位704，该目标车位的标识可以为“A106”，由于目标车位的标识包括区域关键字“A”，从而可以根据该多个立柱的图像，结合该区域关键字，可以确定车辆所处的区域716的标识“A区”；又例如，该区域关键字可以是目标车位的标识和停车区域标识所包括的共同的字母、数字，等等。
示例性地，当存在多个停车区域的标志物时，可以结合目标车位与该多个标志物间的距离，确定停车区域的标志物，从而确定该停车区域的标识。例如，如图8所示，当立柱720如图9中的(a)所示，立柱722如图9中的(b)所示时，可以根据摄像头和/或雷达所采集的数据，确定该目标车位与该多个标志物间的距离，比如，立柱720与车位704间的距离小于立柱722与车位704间的距离，从而由此可以确定该目标车位所在的停车区域的标志物为立柱720，可以确定车辆所处的停车区域的标识为“A区”。
示例性地，根据标志物的图像，可以确定一个或多个文本，为了便于解释和说明，该文本可以称为标志物信息、标志物信息文本。例如，该标志物可以如图9中的(a)所示，根据该标志物的图像，可以获得“A区”、“安全通道”、“←”等多个文本，根据该多个文本，可以确定停车区域的标识，比如通过对该多个文本进行合理性验证等。应理解，以上关于标志物信息文本的描述只是示例，本申请实施例对此不做限定。
示例性地，可以根据该一个或多个标志物信息文本的置信度，确定该停车区域标识。
示例性地，可以基于置信度规则，确定标志物信息文本的置信度。例如，可以识别该文本中是否包括预设关键字，比如“区”、“区域”等，比如，停车区域的标志物可以如图9中的(a)所示，根据该标志物的图像可以得到“A区”、“安全通道”、“←”等多个文本，其中“A区”包括该关键字“区”，可以将其确定为停车区域标识；又例如，可以基于获取的置信度级别表，对从该标志物图像所识别得到的文字进行置信度分析，比如，示例性地，表2为本申请实施例提供的一种停车区域标识的置信度级别的示例性表格，可以根据表2对标志物信息文本进行置信度排序，由此确定停车区域标识。应理解，以上关于置信度的描述只是示例以便于说明，本申请实施例对此不做限定。
应理解，以上关于置信度的描述只是示例，本申请实施例对此不做限定。
示例性地，可以根据停车区域的标志物在多个时刻的图像，确定该停车区域的标识。例如，由于摄像头拍摄角度等因素的限制，所获取的标志物的图像可以仅包含该标志物的部分区域，由此可能无法获取完整的停车区域的标识，可以获取立柱720在多个时刻的图像，比如通过融合识别算法等，可以获取该停车区域标识，从而提高确定停车区域的准确度。
表2
示例性地，在确定停车区域后，可以发送第二消息，该第二消息可以用于指示该停车区域。例如，在确定该停车区域后，比如可以在用户将档位调整为停车档、拉起手刹、通过交互界面确认该停车区域、离开车辆或车辆熄火等情况下，发送第二消息，通过发送该第二消息，可以通过网络设备或其他设备将该停车区域提示给用户，使得手机等终端设备可以获知该停车区域，实现对用户的提醒，使得用户无需通过手机等终端设备对停车区域的情况下，也可以获知该停车区域，从而可以提高用户的使用体验；又例如，在确定停车区域之后，车辆可以通过车载通信装置发送消息至云服务器，以指示停车区域，从而手机等终端设备可以从该云服务器获知该停车区域，车辆也可以通过Wi-Fi、蓝牙等发送 消息给与该车辆相关联的手机等终端设备，从而该终端设备可以获知该停车区域；又例如，示例性地，图16是本申请实施例提供的另一种交互界面的示意图，在接收第二消息后，手机等终端设备可以在其界面显示如图16所示界面，用户还可以对该消息予以反馈，比如，点击否定应答控件1505、点击肯定应答的控件1503等，在获取到肯定应答时，手机可以将停车区域的标识保存在本地或服务器中，在获取到否定应答时，手机可以获取该车辆周边环境的图像、停车区域的标志物的图像等，从而可以以图像的方式提示用户。应理解，以上关于第二消息的描述只是示例，本申请实施例对此不做限定。
示例性地，可以控制车载显示装置显示该停车区域的标识。例如，在确定停车区域之后，可以在车辆中控屏中显示如图16所示界面，还可以通过交互设备接受用户的反馈，比如用户可以在中控屏关闭该消息提醒、对该显示信息予以肯定应答等；又例如，在确定停车区域标识之后，可以在中控屏等车载显示装置显示停车区域标志物的图像，该图像中可以包括该标志物的标识，比如，可以显示如图9的(a)中的标志物810的部分区域的图像，该区域中包括标识815。
本申请实施例中，在检测到停车区域的标志物时，通过获取该停车区域的标志物的图像，确定停车区域，可以提高确定停车区域的标识的准确性，可以节省在确定停车区域时的资源开销，也可以在无法识别该停车区域的标识的情况下，通过标志物确定该停车区域，也有助于用户在无需通过手机等终端设备对停车区域拍照的情况下，获知车辆所处停车区域，便于用户寻车。
如上所述，当前车辆行驶至停车场后，比如大型停车场等，由于其地形、环境复杂，而且部分停车场的GPS信号强度较弱，无法精准定位车辆所在位置，无法精确定位车辆所在位置，用户往往需要通过手动拍照的方式来记录车辆所在位置，使得用户的体验不佳。本申请实施例提供了一种指示停车位置的交互方法、装置和终端设备，通过获取车辆位置信息，在界面指示车辆的停车位置，有助于用户在无需使用手机等终端设备对停车位拍照的情况下，获知所在车位和/或停车区域，以便于提高用户的使用体验。
示例性地，图17是本申请实施例提供的一种指示停车位置的交互方法的示例性流程图。该方法包括：
S1610，获取车辆位置信息。
示例性地，该车辆位置信息可以用于指示车辆所在的位置。例如，手机等终端设备可以从车辆或网络设备等获取用于指示目标车位的第一消息；又例如，手机等终端设备可以获取用于指示停车区域(或称为停车分区)的第二消息；又例如，所获取的车辆位置信息可以既用于指示目标车位，也可以用于指示停车区域，也就是说第一消息和第二消息可以是同一个消息；又例如，可以接收第一提示消息，该第一提示消息可以包括车辆的停车位置信息，从而可以获取停车位置信息；再例如，手机等终端设备可以获取车辆周边环境的图像，通过呈现该周边环境的图像，用户可以获知车辆所在区域。应理解，以上关于车辆位置信息的描述只是示例，本申请实施例对此不做限定。
示例性地，该终端设备可以与该车辆相关联。例如，手机等终端设备可以与该车辆以有线或无线的方式直接连接，比如，该手机可以通过蓝牙等方式与该车辆连接；又例如，该手机可以是与该车辆登录、关联同一账户的终端设备。应理解，以上方式只是举例以便于说明，本申请实施例对此不做限定。
S1620，显示第一界面，该第一界面可以用于显示车辆的停车位置。
示例性地，在获取车辆位置信息之后，相应地，可以在与该终端设备关联的显示器中显示第一界面，该第一界面可以用于指示停车区域和/或目标车位。
为了便于解释和说明，示例性地，图18是本申请实施例提供的一种交互界面的示意图。该界面可以是手机、平面电脑等终端设备在其关联的显示器中显示的界面。
参见图18中的(a)所示界面，手机在获取车辆位置信息之后，比如该车辆的所处的停车区域为“A区”，目标车位为“236”，手机可以显示如图18中的(a)所示的界面，在该界面中的区域1704可以包括该停车区域标识“A区”和目标车位的标识“236”，该界面还可以包括该车辆所处的停车场的位置信息，比如在该界面的区域1702显示该停车场的地址，该界面还可以包括其他控件，比如控件1706，用户通过点击该控件可以获取与停车区域和/或目标车位相关的其他信息，比如当手机检测到用户点击了控件1706时，显示如图18中的(b)所示的界面。
参见图18中的(b)所示的界面，响应于手机检测到用户点击了图18中的(a)中的控件1706， 可以在该界面中显示停车区域的标志物的图像1710，该图像1710中的标志物1711可以是图9中的(a)的立柱，也就是说，该图像可以显示该停车区域的标志物的至少部分区域，比如用于指示停车区域的标识的区域等，还可以在该界面中显示目标车位的图像1714，该图像1714中的车位1715可以是图7中的车位704，也就是说，该图像可以显示该目标车位的至少部分区域，比如用于指示目标车位的标识的区域等。还界面还可以包括其他控件，比如控件1708，当手机检测到用户点击了控件1708时，可以显示如图18中的(a)所示的界面。
参见图18中的(c)所示界面，该界面可以既显示目标车位的标识和停车区域标识，比如区域1716所示内容，也可以显示目标车位的图像和停车区域的标志物的图像，比如图像1717和图像1718。
应理解，以上关于第一界面的描述，只是示例以便于说明，本申请实施例对此不做限定。
示例性地，图19示出了本申请实施例提供的一组图形用户界面(graphical user interface，GUI)。
用户通过电子设备进行寻车时，可以在如图19中的(a)所示的电子设备主桌面页面左滑，电子设备响应于用户的左滑操作显示如图19中的(b)所示的负一屏。该电子设备可以通过负一屏界面显示服务号1720，该服务号1720中显示车辆停车的地理位置，如“车辆位于xx区xx商城xx栋xx座B3层”；以及车辆停车的车位的车位号，如“A-106”，其中，“A”可以代表停车分区，“106”可以代表车位的具体号码。或者，服务号1720中也可以显示停泊车辆的类型或名称，如“XX车停泊中”。进一步地，电子设备可以响应于用户点击服务号1720的操作，通过如图19中的(c)所示的服务卡片1722显示车辆停泊的地理位置、车辆停泊车位的车位号以及包含车位号的车位图像1724。使得用户能够更直观的获知车辆停泊位置处的车位号相关信息。
在一些可能的实现方式中，电子设备检测到用户查看负一屏信息的操作时，向车主APP查询是否存有停车位置信息，若有，则根据停车位置信息确定车辆的停泊位置，并在负一屏显示该停泊位置，例如车辆停泊的地理位置、车辆停泊位置处的车位号、车位图像中的一项或多项。
应理解，在本申请实施例中，负一屏是指用户在手机的桌面(如图19中的(a)所示的手机的桌面)上检测到用户向右滑动的操作后显示的界面。图19中的(a)所示的手机的桌面可以为手机的桌面上的第二个桌面页面，负一屏可以为手机的桌面上的第一个桌面页面，如图19中的(b)所示。负一屏可以为用户提供搜索、应用建议、快捷服务、未接来电通知卡片、情景智能等等服务。其中，负一屏可以显示一些用户经常使用的应用程序(application，APP)。
示例性地，用户通过手机等电子设备选车时，也可以通过该手机等电子设备的下滑通知栏界面显示通知卡片。例如，该通知卡片可以显示车辆停车的地理位置，比如，“车辆位于xx区xx商城xx栋xx座B3层”，以及车辆停车的车位的信息，如“A-106”；又例如，该通知卡片可以显示车辆停车的地理位置、车辆停车的车位的标识以及包含该车位标识的车位图像，使得用户能够更直观地获知车辆的停车位置信息。
在一些可能的实现方式中，用户可以通过点击服务卡片1720、下滑通知栏界面的通知卡片，或者用户可以通过点击车主APP的图标，进入车主APP的主桌面页面。手机等电子设备响应于用户的操作，可以显示如图20中的(a)所示的车主APP的主桌面页面。该车主APP的主桌面页面中可以包括位置信息框1730，该位置信息框1730可以包括车辆停车位置的地址，如“xx市xx区xx商城xx栋xx座B3层……”；车辆与电子设备之间的距离信息，如“2.3km”；车辆当前状态信息，如“泊车中”；以及提示信息“点击使用智能寻车”。
进一步地，在用户点击位置信息框1730后，电子设备响应于用户的点击操作，显示如图20中的(b)所示的智能寻车界面，该智能寻车界面中可以显示导航信息框1732，该导航信息框1732中包含电子设备导航至车辆所在位置所需时间信息1736；该智能寻车界面中还可以显示车辆停泊位置图像框1734，以及包含车辆所停泊的地理位置的地图以及车辆在地图中所处的位置1735。在一些可能的实现方式中，响应于用户的点击位置信息框1730的操作，电子设备显示智能寻车界面时，还可以显示图8中的(b)中1738所示“智能寻车已启用”的寻车动效。
示例性地，该电子设备也可以是智能手表、平板电脑等等终端设备，本申请实施例对于该终端设备的形式不做限定。
本申请实施例中，终端设备在获取车辆位置信息之后，通过在第一界面显示车辆的停车位置，使得用户可以获知车辆的停车位置，便于用户寻车，可以提高用户的使用体验。
应理解，方法900、1000、1100、1400和1600可以相互结合。本申请实施例对此不做限定。例如，请参考图21至图29，图21可以是本申请实施例提供的一种识别停车区域的示例性流程图，该方法1800可以包括以下部分或全部步骤。
S1805，获取周边环境数据。
示例性地，该周边环境数据可以用于检测停车区域的标志物。该周边环境数据可以是一个或多个传感器采集的数据，比如该周边环境数据可以是一个或多个摄像头，和/或，一个或多个雷达传感器所采集的数据，本申请实施例对此不做限定。
S1810，在检测到停车区域的标志物时，获取该标志物的图像。
示例性地，该停车区域的标志物可以是立柱等，关于停车区域的标志物的描述可以参照步骤S1410等。
S1820，获取第一车位图像。
示例性地，可以获取目标车位在内的一个或多个车位的图像，可以根据车位指示消息，确定该目标车位。应理解，关于获取第一车位图像的描述可以参照步骤S1110等。
示例性地，获取周边环境数据，可以与获取第一车位图像同时进行，也就是说，步骤S1820，与步骤S1805至S1810中的部分或全部步骤，可以同时执行，也可以先执行步骤S1820，还可以先执行步骤S1805至S1810中的部分或全部步骤，本申请实施例对此不做限定。
S1825，根据第一车位图像，确定目标车位的标识。
示例性地，根据第一车位图像，可以确定目标车位的标识。应理解，关于确定目标车位的标识的描述，可以参照步骤S1130。
示例性地，根据目标车位的标识，可以确定该标识是否包括区域关键字。例如，可以认为标识“013”不包括区域关键字，可以认为标识“A106”的区域关键字为“A”；又例如，标识为“H-0367”的车位，其所在停车区域的标识为“P1-H”，可以认为区域关键字为“H”；又例如，目标车位的标识，比如“C0237”，在存在多个标志物信息文本(比如，文本“C17”、“D17”、“C18”时)时，可以将目标车位的标识与该标志物信息文本匹配，比如，“C0237”可以与“C17”、“C18”匹配，可以确定区域关键字为“C”，进一步地，由此可以确定停车区域的标识，比如，可以基于车辆处于停车位姿时与该标识所在标志物间的距离，确定停车区域的标识。
S1830，在目标车位的标识包括区域关键字时，根据该标志物的图像和区域关键字确定停车区域。
示例性地，可以根据停车区域标识区分多个停车区域。例如，在检测到多个标志物时，可以获取该多个标志物的图像，该多个标志物可能指示多个停车区域，可以根据目标车位与多个标志物间的距离，确定第一标志物，该第一标志物可以是该多个标志物中与目标车位距离最短的标志物，根据该标志物的图像，可以确定停车区域的标识。
示例性地，根据标志物的图像可以确定停车区域的标识，从而根据停车区域的标识确定停车区域，应理解，关于确定停车区域的方式可以参照步骤S145。
示例性地，在目标车位的标识包括区域关键字时，可以结合该区域关键字确定该停车区域。例如，在根据多个标志物的图像确定多个文本时，比如，“P1”、“P1-H”、“P1-G”、“安全通道”等，虽然可以根据该多个文本的置信度，对该多个文本进行筛选，由此确定停车区域，但是由于置信度的评价规则可能无法适用于所有停车场，也可能存在多个文本的置信度等级相同的情形，比如“P1-H”和“P1-G”，可能无法确定准确的停车区域的标识，由此可以结合区域关键字确定停车区域，比如，目标车位的标识为“H-013”，由于该目标车位的标识与文本“P1-H”具有相同的区域关键字“H”，可以确定停车区域为“P1-H”。应理解，以上关于确定停车区域的描述，只是示例以便于说明，本申请实施例对此不做限定。
本申请实施例中，通过目标车位的标识确定区域关键字，根据区域关键字以及停车区域的标志物的图像，确定停车区域的标识，由此识别停车区域，可以提高识别停车区域的准确度。
应理解，以上确定停车区域的方法只是举例，以便于说明，本申请实施例对此不做限定。
可选地，S1835，发送第二消息，该第二消息可以用于指示停车区域。
示例性地，该第二消息可以通过指示停车区域的标识指示该停车区域，也可以通过指示该停车区域的标志物，比如可以通过发送停车区域的标志物的图像的方式，指示该停车区域。应理解，本申请实施例对此不做限定。
相应地，终端设备可以获取该第二消息，根据该第二消息可以显示第一界面，从而用户可以根据该界面获知车辆所在停车位置。
可选地，S1840，发送第一消息，该第一消息可以用于指示目标车位。
示例性地，该第一消息可以通过指示目标车位的标识指示该目标车位，也可以通过指示目标车位的图像的方式，指示该目标车位。应理解，本申请实施例对此不做限定。
相应地，终端设备可以获取该第一消息，根据该第一消息可以显示第一界面，从而用户可以根据该界面获知该车辆所在车位。
应理解，可以先执行步骤S1835，也可以先执行步骤S1840，还可以同时执行步骤S1835和S1840，本申请实施例对此不做限定。
可选地，S1850，识别停车区域失败时，可以发送第三消息，该第三消息用于指示周边环境。
示例性地，在识别停车区域失败时，可以发送用于指示周边环境的第三消息。例如，对于部分停车场而言，可能并无多个停车区域的划分，可能仅在车位所在区域标注有车位标识，由此车辆根据其传感器采集的标志物的图像，可能无法获知该车辆所处的停车区域，由此可以通过发送第三消息指示车辆的周边环境数据，比如可以发送全景影像系统(around view monitor，AVM)、数码录像机(digital video recorder，DVR)等采集的图像至手机等终端设备，以便于用户寻车。
本申请实施例中，结合区域关键字以及停车区域的标志物的图像，确定停车区域，可以提高所确定的停车区域的准确度。进一步地，通过发送第一消息可以指示目标车位，通过发送第二消息可以指示停车区域，可以使得用户在无需对停车区域和/或目标区域拍照的情况下，获知该车辆所在的停车区域和/或目标区域，可以提升用户的使用体验。
示例性地，图22是本申请实施例提供的一种识别停车区域的方法的示例性流程图。该方法1900可以包括以下部分或全部步骤。
S1905，检测停车语音指令，或检测第一操作。
示例性地，该停车语音指令，可以是用于指示用户存在停车意愿的语音指令，该第一操作可以用于指示用户存在停车意图。例如，该第一操作可以是用户点击车辆的中控屏的“自动停车”的虚拟按键等。应理解，关于第一操作的描述可以参照步骤S1020等。
示例性地，可以根据获取的语音指令检测该停车语音指令，可以根据获取的用户操作信息检测该第一操作。
S1910，在检测到第一操作时，启动第一传感器，或，根据停车语音指令，启动第一传感器。
示例性地，在检测到第一操作时，启动第一传感器，或者，根据停车语音指令，启动第一传感器，也就是说，在确定用户存在停车意图时，启动第一传感器。
示例性地，步骤S1905至S1910，可以对应于步骤S1010至S1020，为了简洁，此处不再赘述。
本申请实施例中，当确定用户存在停车意图时，启动第一传感器，可以减少该传感器用于数据采集的时间，可以节省传感器的开销，也可以提升传感器的使用寿命。
S1915，控制第一传感器采集周边环境数据。
示例性地，启动第一传感器后，该传感器采集周边环境数据，该周边环境数据可以用于停车区域的标志物检测。其中，该第一传感器可以包括一个或多个相同或不同类型的传感器。例如，在获取语音指令后，可以启动图2所示的多个侧向摄像头和激光雷达，该传感器启动后可以采集周边环境数据；又例如，在检测到用户将档位调整到倒车档时，可以启动图2所示后视摄像头。
示例性地，启动第一传感器，控制第一传感器采集周边环境数据，可以是直接控制该第一传感器开启并采集周边环境数据，也可以是向其他控制装置(比如传感器控制装置)或传感器发送消息，该消息可以用于指示传感器采集周边环境数据，
S1920，获取周边环境数据。
S1925，在检测到停车区域的标志物时，获取该标志物的图像。
示例性地，步骤S1920至S1925可以对应于步骤S1410至S1430，为了简洁，此处不再赘述。
S1930，根据该停车区域的标志物的图像，确定停车区域。
示例性地，根据该标志物的图像，可以确定停车区域标识，可以该停车区域标识指示的区域为停车区域。
示例性地，关于确定停车区域的方法可以参照步骤S1450等。
可选地，S1935，控制车载显示装置显示该停车区域的标识。
示例性地，在确定停车区域标识之后，可以在车载显示装置显示该停车区域的标识。例如，可以在中控屏上显示，“当前车辆位于停车场A区，请您确认”。应理解，以上示例只是说明，本申请实施例对此不做限定。
可选地，S1940，获取用户反馈信息。
示例性地，可以检测用户的操作，获取用户的反馈信息。例如，可以在中控屏上显示如图16所示界面，在检测到用户点击控件1503时，可以确定用户的反馈为肯定应答，在检测到用户点击控件1505时，可以确定用户的反馈为否定应答。
可选地，S1945，发送第一消息。
示例性地，在确认用户反馈信息为肯定应答时，可以发送该第一消息，通过该消息可以获知该停车区域的标识，从而用户可以通过手机等终端设备获知该车辆在停车区域。
示例性地，在确认用户范围信息为否定应答时，可以发送该第一消息，通过该消息可以获取该停车区域的标志物的图像，从而可以根据该标志物的图像获知该车辆所在的停车区域。
应理解，以上关于第一消息的描述，只是示例以便于说明，本申请实施例对此不做限定。
本申请实施例中，在确认用户存在停车意图时，启动第一传感器，并根据该传感器采集的周边环境数据进行停车区域的标志物检测，在检测到标志物时，可以根据该标志物的图像确定停车区域，能够降低在识别停车区域的过程中所使用的传感器的开销。
示例性地，图23是本申请实施例提供的一种识别车位的标识的方法的示意性流程图。该方法2000可以包括以下部分或全部步骤。
S2010，获取第一状态参数。
示例性地，关于第一状态参数的描述可以参照步骤S910等。
S2015，在该第一状态参数小于或等于第一阈值时，进行停车场标志物检测。
示例性地，关于第一阈值、停车场标志物的描述可以参照步骤S920等。
S2020，在检测到停车场标志物时，确定车辆位于停车场区域。
示例性地，在检测到停车场标志物时，可以确定车辆位于停车场区域，进一步地，可以控制启用与停车场景相关的功能，为了简洁此处不再赘述。
进一步地，在确定车辆位于停车场区域之后，可以启动与停车相关的功能及相应的传感器，通过自行触发与停车相关的功能，可以提高用户的体验。
S2025，启动第二传感器。
示例性地，在确定车辆处于停车场区域之后，可以启动感知传感器，也就是说，可以控制该传感器采集数据，该传感器可以用于采集包括目标车位在内的车位的图像，为了便于解释和说明，可以将该传感器称为第二传感器，该第二传感器可以与第一传感器相同，也可以与第一传感器不同，在第二传感器与第一传感器相同时，该第二传感器可以是一个或多个摄像头传感器，也就是说，该传感器所采集的数据既可以用于检测停车区域的标志物，也可以用于获取目标车位的图像。例如，通过控制AVM的摄像头采集数据，可以根据AVM采集的图像检测停车区域的标志物，也可以结合车位指示信息根据AVM采集的图像确定目标车位；通过控制后视摄像头等采集图像，可以得到第一车位图像。
S2030，获取目标车位的图像。
示例性地，根据第二传感器采集的数据，可以获取该目标车位的图像。
示例性地，关于第一车位图像的描述可以参照步骤S1110等。
S2035，根据目标车位的图像，确定目标车位的标识。
示例性地，步骤S2030至S2040，可以对应于步骤S1110至S1130，为了简洁，此处不再赘述。
可选地，S2040，在确定目标车位的标识之后，可以发送第一消息，该第一消息可以用于指示目标车位。
本申请实施例中，当用户可以通过手机远程下达自动停车的指令时，通过确定车辆位于停车场所在区域，可以触发第二传感器采集目标车位的图像，并由此获取该目标车位的标识，进一步地，手机可以通过获取该第一消息，使得用户获知该车辆所在的目标车位，以便于用户寻车，可以提高对于车 辆远程停车的用户体验。
示例性地，图24是本申请实施例提供的一种识别停车区域的方法的示意性流程图。该方法2100可以包括以下部分或全部步骤：
S2110，获取第一状态参数。
示例性地，关于第一状态参数的描述可以参照步骤S910等。
S2115，在该第一状态参数小于或等于第一阈值时，进行停车场标志物检测。
示例性地，关于第一阈值、停车场标志物的描述可以参照步骤S920等。
S2120，在检测到停车场标志物时，确定车辆位于停车场区域。
示例性地，在检测到停车场标志物时，可以确定车辆位于停车场区域，进一步地，可以控制启用与停车场景相关的功能。
S2125，启动第一传感器。
示例性地，该第一传感器可以用于采集周边环境数据，该周边环境数据可以用于检测停车区域的标志物，相应地，启动第一传感器之后，该传感器可以采集该周边环境数据。
示例性地，关于第一传感器的描述可以参照步骤S1915等。
S2130，获取该周边环境数据，在检测到所述停车区域的标志物时，获取该标志物的图像。
S2135，根据该标志物的图像，确定停车区域。
应理解，步骤S2130至S2135可以对应步骤S1430至S1450。
可选地，S2140，在确定停车区域之后，可以发送第二消息，该第二消息可以用于指示停车区域。
本申请实施例中，在车辆自动驾驶或不处于用户的操控之下时，比如，用户可以通过手机远程下达自动停车的指令时，通过确定车辆位于停车场所在区域，可以触发第一传感器采集周边环境数据，并进行停车区域的标志物的检测，通过获取该停车区域的标志物的图像，可以确定停车区域，进一步地，手机可以通过获取该第二消息，使得用户获知该车辆所在的停车区域，以便于用户寻车，可以提高对于车辆远程停车的用户体验。
示例性地，方法2100可以与方法1800相结合，从而可以提高所识别的目标区域的准确性。
示例性地，图25是本申请实施例提供的一种识别车位的标识的方法的示意性流程图。
S2205，检测停车语音指令，或检测第一操作。
示例性地，该停车语音指令，可以是用于指示用户存在停车意愿的语音指令，该第一操作可以用于指示用户存在停车意图。
应理解，关于停车语音指令和第一操作的描述可以参照步骤S1010等。
S2210，在检测到第一操作时，启动第二传感器，或，根据停车语音指令，启动第二传感器。
示例性地，该第二传感器可以用于采集目标车位的图像。
示例性地，关于第二传感器的描述可以参照步骤S2025等。
示例性地，步骤S2205至S2210，可以对应于步骤S1010至S1020，为了简洁，此处不再赘述。
S2215，获取第一车位图像。
示例性地，可以获取第二传感器采集的数据，根据该数据可以得到包括目标车位在内的至少一个车位的图像，即第一车位图像。
S2220，根据第一车位图像，确定目标车位的标识。
可选地，S2225，在确定目标车位的标识之后，可以发送第一消息，该第一消息可以用于指示目标车位。
示例性地，步骤S2215至S2220，可以对应步骤S1110至S1130。
本申请实施例中，在确认用户存在停车意图时，启动第二传感器，并根据该传感器采集的目标车位的图像，确定该车位的标识，能够降低在识别目标车位的标识的过程中所使用的传感器的开销，而且根据用户的停车意图启动对应的传感器，可以减少无效数据对识别车位的标识的干扰，可以提高所确定的车位标识的准确度。
示例性地，图26是本申请实施例提供的一种识别车位的标识和停车区域的方法的示意性流程图。该方法2300可以包括以下部分或全部步骤：
S2305，检测停车语音指令，或检测第一操作。
示例性地，可以结合方法900，检测第一操作。例如，在确定车辆位于停车场区域之后，当检测到用户将档位调整至倒车档时，可以确定用户存在停车意图；又例如，在确定车辆位于停车场区域之后，当检测到用户通过加速踏板或制动踏板将车速控制在车速阈值(比如2km/h)时，可以确定用户存在停车意图。
示例性地，关于停车语音指令、第一操作的描述可以参照步骤S1010等。
S2310，在检测到第一操作后，启动第一传感器和第二传感器，或者，根据停车语音指令，启动第一传感器和第二传感器。
示例性地，启动第一传感器之后，该第一传感器可以采集周边环境数据。
示例性地，启动第二传感器之后，该第二传感器可以采集目标车位的图像。
示例性地，步骤S2305至S2310，可以对应于步骤S1010至S1020。
S2315，获取周边环境数据。
示例性地，该周边环境数据可以用于检测停车区域的标志物。
S2320，在检测到停车区域的标志物时，获取该标志物的图像。
示例性地，步骤S2315至步骤S2320可以对应于步骤S1410至S1430。
S2325，获取第一车位图像。
示例性地，可以获取第一车位图像，进一步地，可以结合车位指示消息，确定该目标车位。
示例性地，获取周边环境数据，可以与获取目标车位的图像同时进行，也就是说，步骤S2320，与步骤S2305至S2310中的部分或全部步骤，可以同时执行，也可以先执行步骤S2320，还可以先执行步骤S2305至S2310中的部分或全部步骤，本申请实施例对此不做限定。
S2330，根据目标车位的图像，确定目标车位的标识。
示例性地，根据目标车位的图像，可以确定目标车位的标识。示例性地，关于确定目标车位的标识的描述，可以参照步骤S1130。
示例性地，根据目标车位的标识，可以确定该标识是否包括区域关键字。
示例性地，步骤S2325至S2330，可以对应于步骤S1110至S1130，为了简洁，此处不再赘述。
S2335，在目标车位的标识包括区域关键字时，根据该标志物的图像和区域关键字确定停车区域。
示例性地，关于确定停车区域的方式可以参照步骤S1450、S1830等。
可选地，S2340，发送第一消息和/或第二消息。
应理解，以上确定停车区域的方法只是举例，以便于说明，本申请实施例对此不做限定。
本申请实施例中，在确定用户存在停车意愿时，通过启动第一传感器和第二传感器，可以获取用于确定目标车位和停车区域的数据，可以在提高识别停车区域的准确度的同时，能够降低在识别停车区域的过程中所使用的传感器的开销。
示例性地，图27是本申请实施例提供的一种识别车位的标识的方法的示意性流程图。该方法2400可以包括以下部分或全部步骤。
S2405，获取第二传感器在第一时长内采集的目标车位的视频图像。
示例性地，该目标车位的视频图像可以包括该多张目标车位的图像，可以是第二摄像头在第一时长内采集的连续帧的图像，该第一时长可以是任意时长。例如，可以获取摄像头传感器在一定时长(比如5秒)内采集的目标车位的视频，该视频可以包括多个连续帧的图像，该视频中也可以包括目标车位以外的其他车位。应理解，本申请实施例对此不做限定。
示例性地，在该第一时长内，车辆的部分或全部位于目标车位之外。
S2410，对该多张目标车位的图像进行文字检测。
示例性地，可以对该多张目标车位的图像进行文字检测。例如，可以对该多张图片进行文字检测，对于其中检测到文字的图像，可以截取该图像中包括文字的部分，以避免图像的其他部分对数据处理造成干扰，也可以节省文字识别过程中所需的处理资源。
S2415，文字识别。
示例性地，在多张目标车位的图像进行文字检测后，可以对其中包含文字的图像进行文字识别，从而可以获取一个或多个文本。例如，车辆在驶入目标车位的过程中，其摄像头所采集的图像除了可以包括目标车位之外，还可以包括其他车位，而且该目标车位中可能包括除目标车位的标识以外的其 他信息，比如用于指示行进方向的箭头、车位类型“临时车位”等，由此对图像进行文字识别，可以获取一个或多个文本，其中关于文字识别的方法可以参考相关技术，为了简洁此处不再赘述。应理解，以上关于文字识别的描述只是示例，本申请实施例对此不做限定。
S2420，确定目标车位的标识。
示例性地，可以根据文字识别的结果，确定目标车位的标识。例如，根据该多个图像，可以确定所获得的多个文字对应的轨迹，可以结合车辆的轨迹，筛除目标车位以外的其他车位的信息、标识等，进一步地，可以根据该多个文本的置信度，确定目标车位的标识；又例如，可以对多个图像所识别得到的文字进行关联，以弥补单个图像中文字不完整对识别标识造成的影响，比如可以降低如图6中的(c)、(d)所示图像对识别车位标识的影响。应理解，以上确定目标车位的标识的方法，只是示例以便于说明，本申请实施例对此不做限定。
示例性地，关于确定目标车位的方法可以参照步骤S1130等。
示例性地，方法2400可以与方法1100等相结合，此处不再赘述。
本申请实施例中，通过获取连续的视频图像，根据该视频图像对目标车位的标识进行识别，可以弥补单个图像中文字不完整对识别标识造成的影响，也可以基于该视频图像结合车辆轨迹筛除其他车位的文本信息，可以提高识别目标车位的标识的准确性。
示例性的，图28是本申请实施例提供的一种识别停车区域的方法的示意图，该方法2500可以包括以下部分或全部步骤：
S2505，获取周边环境数据。
示例性地，该周边环境数据可以用于立柱检测。
S2510，根据该周边环境数据进行立柱检测，在检测到立柱时，获取该立柱的视频图像。
示例性地，可以通过雷达所采集数据进行立柱检测，也可以根据摄像头采集的数据进行立柱检测。例如，可以根据AVM采集的图像进行立柱检测，获取立柱的视频图像，可以是从已获取的图像中确定立柱的视频图像。
示例性地，该视频图像可以包括摄像头在一定时长内采集的多张图像。
S2515，对该立柱的图像进行文字检测。
S2520，文字识别。
示例性地，在立柱的一张或多张图像进行文字检测后，可以对其中包含文字的图像进行文字识别，从而可以获取一个或多个文本。
可选地，S2525，语义分类。
示例性地，可以对该一个或多个文本进行语义分类。例如，可以认为纯文字的文本(比如，“安全通道”等)为无效信息，可以认为仅包括符号的文本(比如“←”等)为无效信息。应理解，本申请实施例对此不做限定。
S2530，确定停车区域。
示例性地，可以根据语音分类后的文本，确定停车区域的标识，从而确定停车区域。
示例性地，可以结合该文本在视频图像中的出现频率，确定停车区域的标识。
示例性地，可以基于文本在视频图像中出现的时间，确定停车区域的标识。例如车辆在行驶至目标车位的过程中，目标车位周围的立柱所指示的停车区域，更可能是目标车位所在的停车区域，由此，在该停车过程中所获取的文本，其在视频中出现的时刻越接近于车辆驶入目标车位、车辆停车的时刻，该文本可以作为停车区域的标识的置信度更大。应理解，以上方法只是示例，本申请实施例对此不做限定。
示例性地，根据文本确定停车区域的标识的方法可以参照步骤S1450等。
应理解，方法S2500可以与方法1400等相结合。
本申请实施例中，通过获取立柱的连续视频，可以弥补单个图像中文字不完整对识别标识所造成的影响，也可以基于标识在视频图像中出现的时刻筛除其他停车区域的标识，从而可以提高识别的停车区域的准确性。
示例性地，图29是本申请实施例提供的一种智能寻车的交互方法的示意性流程图，该方法2600可以包括以下部分或全部步骤：
S2605，获取车辆位置信息。
示例性地，该车辆位置信息，可以用于指示目标车位和/或停车区域。
S2610，检测用户寻车操作。
示例性地，用户寻车操作，可以是用户通过点击实体、虚拟按键的寻车操作，也可以是通过语义交互下达的寻车指示。例如，用户可以在手机屏幕点击寻车虚拟按键，也可以与手机进行语音交互，可以检测该语音交互中用户下达的“我要寻车”、“我的车辆停在哪里”等寻车的语音指示。应理解，以上方法只是示例，本申请实施例对此不做限定。
S2615，响应于用户寻车操作，显示第一界面，该第一界面可以用于显示车辆的停车位置。
示例性地，在检测到用户的寻车操作时，可以在与该终端设备关联的屏幕显示第一界面。例如，在检测到用户的寻车操作时，可以在手机屏幕显示如图18中的(a)所示界面，以指示车辆所在的车位和停车区域。
S2620，显示导航界面。
示例性地，在检测到用的导航请求时，可以显示导航界面。例如，在检测到用的导航请求时，比如检测到用户在手机屏幕点击“导航”按键时，手机等终端设备可以显示导航界面，该导航界面可以指示用户当前位置与车辆所在停车场的规划路线。
示例性地，根据车辆位置信息，结合地图，可以确定车辆所在停车区域和/或车位在地图中的位置。进一步地，可以根据车辆位置信息，结合地图，确定用户当前位置到车辆所在停车区域和/或车位的规划路线，并由导航界面显示该路线。应理解，以上关于导航界面的描述只是示例，本申请实施例对此不做限定。
示例性地，当车辆检测到终端设备位于第一范围内时，可以发出提醒。例如，对于与车辆有蓝牙连接记录的手机，当用户持有该手机接近车辆时，车辆可以通过低功耗蓝牙在第一范围内检测该手机，在检测到该手机之后，车辆可以通过亮灯、鸣笛等方式发出提醒，以便于用户寻车。应理解，以上检测终端设备的方式只是举例以便于说明，本申请实施例对此不做限定。
应理解，方法2600可以与方法1600相结合。
本申请实施例中，通过获取车辆位置信息，结合地图，可以显示车辆所在车位和/或目标车位的导航路线，从而提高用户寻车的体验。
示例性地，图30是本申请实施例提供的一种识别停车区域的方法的示意性流程图。该方法2800，可以包括以下部分或全部步骤：
S2810，获取周边环境数据，该周边环境数据可以用于检测停车区域的标志物。
示例性地，停车区域可以包括一个或多个车位。例如，停车区域可以是如图8所示区域716等。
S2820，在检测到停车场标志物时，获取该标志物的图像。
应理解，关于停车区域的标志物的描述可以参照步骤S1410等。
S2830，根据标志物的图像，确定停车区域。
一些可能的实现方式中，停车区域包括目标车位，该目标车位为车辆处于停车位姿时所处的车位，该方法还可以包括：获取第一车位图像；根据该第一车位图像确定目标车位的标识，该目标车位的标识包括区域关键字；该根据标志物的图像确定停车区域，可以包括：根据该标志物的图像和该区域关键字，确定停车区域。
示例性地，关于区域关键字的描述可以参照步骤S1450、S1830等。
一些可能的实现方式中，该方法还可以包括：获取车位指示信息，该车位指示信息可以用于指示目标车位所处区域；该根据该第一车位图像确定目标车位的标识，可以包括：根据车位信息和第一车位的图像，确定目标车位的标识。
示例性地，关于车位指示信息的描述可以参照步骤S1110等。
一些可能的实现方式中，该方法还可以包括：根据该第一车位图像，确定第一比例，该第一比例可以用于指示目标车位在该第一车位图像中的占比；该根据该第一车位图像确定目标车位的标识，可以包括：根据第一车位图像和第一比例，确定目标车位的标识。
示例性地，关于确定目标车位的标识的方法，可以参照方法1100等。
一些可能的实现方式中，该方法还可以包括：根据该第一车位图像，确定一个或多个车位信息文 本；根据该一个或多个车位信息中至少一个车位信息文本的置信度，确定目标车位的标识。
示例性地，关于车位信息文本、置信度的描述可以参照步骤S1130等。
一些可能的实现方式中，车辆包括车载显示装置，该方法还可以包括：控制该车载显示装置显示目标车位的图像。
示例性地，车载显示装置可以是中控屏等实体显示器，也可以是HUD，等等。
示例性地，在确定目标车位的标识之后，可以控制该车载显示装置显示该目标车位的标识。
一些可能的实现方式中，该方法还可以包括：在确定目标车位的标识之后，发送第一消息，该第一消息可以用于指示目标车位。
相应地，终端设备可以获取该第一消息。例如，手机等终端设备可以从车辆、网络设备等获取该第一消息，从而可以在其界面显示车辆所在的停车位的标识、图像等，以提醒用户。
一些可能的实现方式中，该根据标志物的图像，确定停车区域，可以包括：根据该标志物的图像，确定一个或多个标志物信息；根据该一个或多个标志物信息，确定停车区域标识，该停车区域标识所指示的区域为该停车区域。
示例性地，关于确定停车区域的方法的描述可以参照步骤S1130等。
一些可能的实现方式中，该方法还可以包括：在确定停车区域之后，发送第二消息，该第二消息可以用于指示停车区域。
示例性地，关于第二消息的描述可以参照步骤S1450等。
一些可能的实现方式中，在获取周边环境数据之前，该方法还可以包括：获取语音指令或用户操作信息；根据该语音指令，检测停车语音指令，该停车语音指令用于指示用户存在停车意图，在检测到停车语音指令时，启动第一传感器；或，根据用户操作信息，检测第一操作，该第一操作可以用于指示用户存在停车意图，在检测到第一操作信息时，启动该第一传感器；控制该第一传感器采集周边环境数据。
示例性地，关于停车语音指令、第一操作等的描述可以操作步骤S1010等。
一些可能的实现方式中，在获取周边环境数据之前，该方法还可以包括：在确定车辆位于停车场区域时，启动第一传感器；控制第一传感器采集周边环境数据。
示例性地，关于第一传感器的描述可以参照步骤S940、S1915等。
一些可能的实现方式中，该方法还可以包括：在该第一状态参数小于或等于第一阈值时，进行停车场标志物检测；在检测到停车场标志物时，可以确定车辆位于停车场区域。
示例性地，关于第一状态参数、第一阈值等的描述可以参照步骤S910等。
一些可能的实现方式中，该停车区域的标志物为立柱。
示例性地，关于停车区域的标志物的描述可以参照步骤S1450等。
示例性地，图31是本申请实施例提供的一种停车交互的方法的示意性流程图。该方法2900，可以包括以下步骤：
S2910，在车辆进入第一区域时，获取该第一区域的信息。
示例性地，该第一区域，可以是停车场的停车分区，比如，可以是方法1400等中所提及的停车区域，“A区”、“A-17”、“XX区”，等等。
示例性地，该第一区域，可以是停车场的停车楼层。例如，在车辆进入停车场后，比如，可以实时记录车辆的俯仰角，由此可以确定车辆所在的停车楼层；又例如，可以根据车辆所途经楼层间通道与楼层间的第一路口，比如，车辆爬坡所途经的第一路口记为+1，车辆下坡所途经的第一路口记为-1；又例如，在车辆处于楼层间通道时，可以控制摄像头传感器采集该通道的图像，并由此确定通道指引标识(比如“通往地下一层”、“>>>地下二层>>>”，等等)，从而确定车辆将驶入的楼层。
示例性地，该第一区域的信息可以是第一区域的环境信息，例如根据车辆的车载传感器采集到第一区域的图像信息，该图像信息可以是在车辆行驶过程中所经过的第一区域的图像信息；又例如，该第一区域的信息，可以是根据该第一区域的图像，所确定的第一区域的标识等信息，比如，“A区”、“A-17”、“XX区”等停车分区的标识。
S2920，在该车辆进入第二区域时，获取该第二区域的信息，该第二区域位于该第一区域内。
示例性地，该第二区域也可以包括停车位，比如，“A106”、“A104”等等。
示例性地，同一个停车楼层包括多个停车分区时，该第二区域也可以包括该停车分区，比如，停车区域“A区”、“H-17区”等等。
示例性地，对室内停车场而言，在该停车位无标识时，该第一区域可以是该的停车楼层、该第二区域可以是该停车分区。
S2930，根据该第一区域的信息和该第二区域的信息，确定该车辆的停车位置信息。
示例性地，该第一区域为停车楼层(比如，地下一层)，该第二区域为停车位(比如，A106)，该停车位置信息可以为“地下一层A106”、“地下一层-A106”、“地下一层的A106车位”、“B1-A106”，等等。应理解，以上关于停车位置信息的描述只是示例以便于说明，本申请实施例对此不做限定。
示例性地，车辆在进入停车场后，直至该车辆在停车位上完成停车，也就是说，车辆进入停车场寻找车位，直至完成停车的过程中，可以经过一个或多个停车楼层，和/或，一个或多个停车分区，在该过程中，可以根据车辆的位置，获取车辆所处的停车楼层和/或停车分区的信息。
一些可能的实现方式中，该第一区域为车辆所处的停车场的停车楼层和/或停车分区，该第二区域可以包括车辆停车的车位，该停车位置信息可以包括车辆停车的车位的信息，和，停车楼层的信息和/或停车分区的信息。
一些可能的实现方式中，该当该车辆进入第二区域时，获取该第二区域的信息，可以包括：获取第一指令，该第一指令用于指示所述车辆的用户存在停车意图；根据该第一指令，获取该第二区域的信息。
示例性地，第一指令可以是语音指令、触控指令、按键指令、手势指令等指令中的一种或多种。例如，该第一指令可以是“我要停车”、“自动停车”、“驶入车位”指示停车意图的语音指令，也就是说，该第一指令可以是方法1000中的停车语音指令；该第一指令也可以是用户通过触发停车意图的实体或虚拟按键、按钮等，所触发的指令，比如，用户可以在中控屏等可交互装置中点击“自动停车”的虚拟按键、可以按压车舱内“自动停车”功能的实体按键等，用户可以在手机等终端设备进行远程停车，并将该远程停车的指令发送给车辆，相应地，关于停车语音指令、触发停车意图的实体或虚拟按键、按钮的描述可以参照步骤S1020等；又例如，也可以定义具有停车意图的手势，在检测到用户的该手势指令后，可以获取该第二区域的信息。
示例性地，可以在检测到车辆进入停车状态后，获取该第二区域的信息。例如，在车辆处于停车场时，在检测到车辆的档位信息为倒车档时，可以认为车辆进入停车状态；又例如，在车辆位于停车场时，在检测到制动踏板或加速踏板存在作用力，且将车速控制在预设车速(比如3千米/小时)以内时，可以认为车辆进入停车状态；又例如，车辆可以具有自动泊车、辅助泊车等功能，以便于用户进行泊车，在检测到用户启用该自动泊车、辅助泊车等功能时，可以确定车辆进入停车状态，等等；又例如，可以根据车辆的控制信号，比如CAN信号，以太网信号等，确定车辆是否进入停车状态。
示例性地，可以在该车辆进入停车状态到该车辆完成停车的过程中，获取停车环境信息；根据该停车环境信息，获取该第二区域的信息。例如，由于车辆部分或全部位于停车位内时，由于摄像头的安装位置，或者即使调整摄像头的角度后，可能无法获取该停车位的图像、标识等信息，由此在检测到车辆处于停车状态至车辆完成停车，在该过程中获取停车过程中的周边环境信息，可以降低车辆位姿对于获取第二区域的信息的影响。
一些可能的实现方式中，可以发送第一提示消息。该第一提示消息可以用于指示停车位置。
示例性地，可以确定车辆完成停车时，发送该第一提示消息。例如，可以在检测到用户将档位调整为停车档、拉起手刹、通过交互界面确认车辆的停车位置信息后、离开车辆或车辆熄火等情况下，可以确定完成停车，可以发送该第一提示消息。
示例性地，可以接收停车位置请求信息，可以根据该停车位置请求信息，发送该第一提示消息。例如，可以响应于用户的操作，由手机等终端设备发送该停车位置请求信息；又例如，可以由服务器触发该停车位置请求信息，以获取该车辆的停车位置信息，该服务器在获取该停车位置信息后，可以将其存储于云端。
进一步地，该停车位置请求信息中，可以包括请求人的身份信息，可以根据该请求人的身份信息，发送该第一提示消息。例如，根据该身份信息，确定该请求人为非授权用户时，可以不发送该第一提示消息；在确定该请求人为授权用户时，比如，该请求人为车主、车主的家庭成员等时，比如，该第 一提示消息中可以包括，停车位的标识、停车分区的标识、停车楼层的信息、停车分区的图像、停车位的图像等；该请求人为临时授权用户时，比如，该第一提示消息中可以包括，停车位的标识、停车分区的标识、停车楼层的信息，也就是说，可以根据请求人的权限，确定该第一提示消息的内容；该请求消息中也可以包括请求让人的请求需求，可以根据该请求人的请求需求，确定该第一提示消息的内容。
一些可能的实现方式中，该方法还可以包括：获取该第二区域的多个时刻的图像信息；根据该第二区域的该多个时刻的图像信息，确定多个标识信息；可以根据该多个标识信息，获取该第二区域的标识。
示例性地，可以根据停车位、停车分区的多个时刻的图像，确定该停车位、停车分区的标识。例如，可以根据停车位的图像，确定多个标识信息，可以根据该标识信息的置信度，确定该停车位的标识；又例如，该多个标识信息中可以包括残缺标识(比如，如图6中的(c)、(d)所示)，可以对多个残缺标识进行拼接融合，以获取停车位的标识；又例如，可以检测停车分区的标志物，可以根据该标志物的图像，确定标志物信息，并由此确定停车分区的标识等信息，等等，关于确定停车位的标识、停车分区的标识的描述，可以参照方法1100、1400等。
示例性地，该车辆可以包括车载显示装置，在获取该第一区域的信息时，控制该车载显示装置显示该第一区域的信息；和/或，在获取该第二区域的信息时，控制该车载显示装置显示该第二区域的信息。例如，车辆在运动过程中，根据车辆所在的位置，可以控制中控屏等车载显示装置，显示该车辆所在楼层的标识、所在停车分区的标识、包含该停车分区的标识的图像、包含停车分区的标识的标志物的图像、目标车位的标识、目标车位的图像，等等；又例如，随着车辆的运动，在车辆驶入新的楼层、新的停车分区，在获取到该新的楼层、停车分区的信息时，该车载显示装置所显示的界面，可以随之更新；又例如，所显示的停车分区的标志物包含该停车分区的标识时，可以在显示界面以线框等突出标记，突出该停车分区的标识，等等。
示例性地，可以获取该车辆的俯仰角信息；根据车辆的俯仰角信息，确定该停车楼层的信息。例如，可以获取车辆进入停车场之后的车姿变化，比如车辆俯仰角的信息，在车辆的俯仰角的绝对值大于或等于预设阈值(比如18度、15度，等)时，可以认为车辆处于楼层间通道，比如，俯仰角为正时，可以认为车辆在上坡，俯仰角信息为负时，可以认为车辆在下坡，由此，可以根据车辆的俯仰角信息，确定车辆所在楼层的相对变化，从而确定车辆所在的楼层位置，在车辆进入停车状态时，可以将车辆当前所处的楼层位置确定为停车楼层，以此确定停车楼层的信息；又例如，可以根据车辆的俯仰角信息，确定车辆处于楼层间通道时，可以触发摄像头等传感器采集周边环境数据，以识别楼层间通道的出入口、楼层间通道与其相连的楼层间的路口等，由此车辆连续通过多个相连的楼层间通道时，也可以准确地获取所通过的楼层间通道的个数，可以由此确定车辆当前所处的楼层位置。
示例性地，楼层间通道可以与停车场的楼层相连，楼层间通道内可以悬挂、张贴有标识等，可以根据该标识确定车辆将驶入的楼层。例如，在确定车辆处于楼层间通道时，可以获取该楼层间通道的图像，根据该图像，可以获取一个或多个标识信息，比如，“<<<通道地下一层<<<”、“<<<xxx层<<<”、“←XXX层”、“<<<”、“←”，等等，根据该标识信息，可以确定用于指示相邻楼层的信息的通道指引标识，比如上述的“<<<通道地下一层<<<”、“<<<xxx层<<<”、“←XXX层”，其中的“通往地下一层”、“xxx层”可以表示相邻的楼层信息，“<”、“←”可以表示该楼层与该楼层间通道的位置关系，从而可以根据该通道指引标识，确定车辆将驶入的楼层的信息。
应理解，图21至图31所描述的方法，只是示例以便于说明方法900、1000、1100、1400和1600间相互结合的方式，以上方法还可以有其他结合方式，为了简洁，此处不再一一赘述。
应理解，以上方法900至2900可以相互结合，本申请实施例对此不做限定。
本申请实施例还提供用于实现以上任一种方法的装置，例如，提供一种装置包括用以实现以上任一种方法中芯片、车辆、车机系统等所执行的各步骤的单元。例如，请参考图32，其为本申请实施例提供的一种确定车辆位于停车场区域的装置的结构示意图，该装置3000可以包括获取模块3010和处理模块3020。
其中，获取模块3010，用于获取第一状态参数。
示例性地，该第一状态参数可以包括GNSS信号的信号质量、车速、车辆与停车场入口的距离中 的至少一项，也可以包括其他参数，例如经纬度信息等。
示例性地，关于第一状态参数的描述可以参照方法900等。
示例性地，获取模块3010，还可以用于获取感知传感器采集的数据，该数据可以用于停车场标志物检测。例如，可以从感知传感器，或者其他装置获取感知传感器采集的数据，也可以是根据多个传感器所采集的经过滤波、融合、特征提取等处理后的数据。
处理模块3020，用于在该第一状态参数小于或等于第一阈值时，进行停车场标志物检测；还用于在检测到停车场标志物时，确定车辆位于停车场区域。
示例性地，根据第一状态参数可以确定对于的第一阈值。例如，当第一状态参数包括GNSS信号的信号质量时，该第一阈值可以包括与GNSS信号的信号质量相关的阈值，等等。
示例性地，处理模块3020可以根据感知传感器采集的数据，进行停车场标志物检测。示例性地，该停车场标志物可以是停车场区域中不会移动的物体。例如，该停车场标志物，停车场道闸、停车位、停车场的引导标志等。
示例性地，关于检测停车场标志物的描述可以参照步骤S920至S940等。
应理解，图32所示装置可以用于实现上述方法900。
示例性地，图33是本申请实施例提供的一种启动传感器的装置的结构示意图，该装置3100可以包括获取模块3110和处理模块3120。
其中，该获取模块3110，可以用于获取语音指令或用户操作信息。
处理模块3120，可以用于：根据语音指令检测停车语音指令，在检测到停车语音指令时，启动一个或多个感知传感器，或者，根据用户操作信息检测第一操作，该第一操作用于指示用户存在停车意图，在检测到第一操作时，启动一个或多个感知传感器。
示例性地，关于停车语音指令和第一操作的描述，可以参照步骤S1010等。
获取模块3110，还可以用于，获取该一个或多个感知传感器采集的数据。
处理模块3120，还可以用于，根据该感知传感器采集的数据，确定车辆停车环境中所处的环境。
示例性地，在该数据中包括目标车位在内的至少一个车位的图像时，处理模块3120，可以根据该图像确定目标车位的标识；在该数据中包括停车区域的标志物的图像时，处理模块2031，可以根据该图像确定停车区域，比如确定该停车区域的标识等。
应理解，装置3100可以用于实现上述方法1000。
示例性地，图34是本申请实施例提供的一种识别车位的标识的装置的结构示意图，该装置3200可以包括获取模块3210和处理模块3220。
其中，获取模块3210，可以用于获取第一车位图像；处理模块3220，可以用于根据该第一车位图像，确定该目标车位的标识。
示例性地，该第一车位图像可以包括目标车位在内的至少一个车位。
一些可能的实现方式中，获取模块3210还可以用于：获取车位指示信息，该车位指示信息可以用于指示目标车位所处区域；处理模块3220具体可以用于：根据该车位指示信息和第一车位图像，确定目标车位的标识。例如，当该图像包括目标车位在内的多个车位时，根据车位指示信息，可以确定图像中的目标车位，由此确定该目标车位的标识。
一些可能的实现方式中，处理模块3220，还可以用于：根据该第一车位图像，确定第一比例，该第一比例可以用于指示目标车位在该第一车位图像中的占比；处理模块3220具体可以用于，根据第一车位图像和该第一比例，确定目标车位的标识。例如，可以获取如图13中的(a)所示图像，通过确定该图像中多个车位的比例，比如如图13中的(b)所示，确定该目标车位为图13中的(a)中标识1151所指示的区域，由此可以确定该目标车位的标识；又例如，当该多个车位的图像由鱼眼摄像头采集时，由于可能存在畸变等，由此可以对该图像进行畸变矫正等处理后，确定第一比例，从而确定目标车位。应理解，以上关于确定目标车位的图像的方法只是示例，本申请实施例对此不做限定。
示例性地，处理模块3220具体可以用于，根据第一车位图像，确定一个或多个车位信息文本；根据该车位信息文本的置信度，确定该目标车位的标识。
示例性地，获取模块3210可以用于获取在多个时刻的目标车位的图像，该处理模块3210可以用于，根据该多个时刻的目标车位的图像，确定目标车位的标识。例如，车辆停车过程中，摄像头传感 器可以采集第一时长内的目标车位的视频，该视频可以包括多个时刻的图像，可以结合该多个图像确定目标车位的标识，由此可以避免由于单个图像中标识不完整而导致的识别错误，可以提高识别的标识的准确度，该第一时长可以是任意时长，比如5秒，13秒等，本申请实施例对此不做限定。
示例性地，该处理模块3220，还可以用于控制车载显示装置显示目标车位的图像。例如，在确定目标车位之后，可以中控屏等显示器可以显示如图13中的(a)所示界面，以指示目标车位；又例如，可以在车载显示装置中仅显示目标车位的图像中其标识所在的部分，也就是说，可以仅显示目标车位的标识的图像；又例如，在确定目标车位的标识之后，可以在中控屏等显示器显示目标车位的标识，比如，如图14所示界面。应理解，以上关于显示目标车位的图像和/或标识的描述只是举例以便于说明，本申请实施例对此不做限定。
示例性地，该装置3200还可以包括发送模块3230，该发送模块3230，可以用于发送第一消息，该第一消息可以用于指示目标车位。
应理解，以上关于识别目标车位的标识的装置的描述只是示例，本申请实施例对此不做限定。
应理解，装置3200可以用于实现方法1100，关于目标车位、目标车位的标识等的描述可以参照方法1100等。
示例性地，图35是本申请实施例提供的一种识别停车区域的装置的结构示意图，该装置3300可以包括获取模块3310和处理模块3320。
其中，获取模块3310，可以用于获取周边环境数据，该周边环境数据可以用于停车区域的标志物的检测；还可以用于在检测到该标志物时，获取该标志物的图像。
处理模块3320，可以用于根据该标志物的图像，确定停车区域。
示例性地，该处理模块3320还可以根据周边环境数据，检测停车区域的标志物。
一些可能的实现方式中，该处理模块3320，可以用于根据该停车区域的标志物的图像，确定停车区域标识。
示例性地，处理模块3320可以用于根据该标志物的图像，确定一个或多个文本，根据该文本的置信度，确定停车区域的标识。
应理解，关于根据文本的置信度确定停车区标识的描述，可以参照步骤S1450等。
一些可能的实现方式中，获取模块3310，还可以用于获取目标车位的标识，该目标车位的标识可以包括区域关键字，处理模块3320可以用于根据该区域关键字和标志物的图像，确定该停车区域。
示例性地，在根据标志物的图像可以确定多个文本时，处理模块3320可以根据该多个文本，结合区域关键字，确定停车区域的标识。示例性地，关于区域关键字的描述可以参照步骤S1450等。
一些可能的实现方式中，在确定目标车位之后，处理模块3320，在检测到多个停车区域的标志物时，可以根据该多个标志物与目标车位间的距离，确定目标车位所属停车区域的标志物。
示例性地，该多个标志物与目标车位间的距离，可以是实际距离，也可以是虚拟长度。例如，可以是根据AVM系统的图像，确定多个停车区域的标志物与目标车位在图像上的距离；又例如，可以是基于雷达所采集的数据，确定多个标志物与目标车位间的实际距离。应理解，以上示例只是说明，本申请实施例对此不做限定。
示例性地，获取模块3310可以用于获取在多个时刻的停车区域的标志物的图像，该处理模块3320可以用于，根据该多个时刻的停车区域的标志物的图像，确定该停车区域的标识。例如，车辆停车过程中，摄像头传感器可以采集一段时间内的停车区域的标志物的视频图像，可以基于该视频图像中的多个时刻的停车区域的标志物的图像，确定停车区域的标识，由此可以避免由于单个图像中标识不完整而导致的识别错误，可以提高识别的标识的准确度。
示例性地，该处理模块3320，还可以用于控制车载显示装置显示停车区域的标识，也可以用于显示停车区域的标志物的图像。
一些可能的实现方式中，该装置3300还可以包括发送模块3330，该发送模块3330，可以用于发送第二消息，该第二消息可以用于指示停车区域。
应理解，装置3300可以用于实现方法1400，以上关于停车区域的标志物等的描述，可以参照方法1400等。
示例性地，图36是本申请实施例提供的一种指示停车位置的交互装置的结构示意图，该装置3400 可以包括获取模块3410和显示模块3420。
其中，获取模块3410，可以用于获取车辆位置信息。
一些可能的实现方式中，车辆位置信息，可以用于指示目标车位和/或停车区域。
该显示模块3420，可以用于显示第一界面，该第一界面可以用于显示车辆的停车位置。
一些可能的实现方式中，该显示模块3420，可以用于显示停车区域的标识。
一些可能的实现方式中，该显示模块3420，可以用于显示目标车位的标识。
一些可能的实现方式中，该显示模块3420，可以用于显示停车区域的标志物的图像。
一些可能的实现方式中，该显示模块3420，可以用于显示目标车位的图像。
一些可能的实现方式中，该显示模块3420，可以显示寻车导航路线，该路径可以指示用户当前位置至车辆停车位置的导航路线。
示例性地，图37是本申请实施例提供的另一种识别停车区域的装置的结构示意图。该装置3500可以包括获取模块3510和处理模块3520，该停车区域可以包括多个车位。
其中，获取模块3510，可以用于获取周边环境数据，该周边环境数据可以用于停车区域的标志物的检测；还可以用于在检测到该标志物时，获取该标志物的图像。
处理模块3520，可以用于根据该标志物的图像，确定停车区域。
示例性地，该处理模块3520还可以根据周边环境数据，检测停车区域的标志物。
一些可能的实现方式中，该获取模块3510，还可以用于获取第一车位图像，该第一车位图像中包括至少一个车位，该至少一个车位中包括目标车位；该处理模块3520还可以用于，根据该第一车位图像确定目标车位的标识，该目标车位的标识包括区域关键字；该处理模块3520具体可以用于，根据该标志物的图像和该区域关键字，确定停车区域。
示例性地，第一车位图像包括至少一个车位，可以是包括一个或多个车位的一部分。例如，如图13中的(a)所示，该图像可以包括3个车位，其中，该图像包括车位“A105”的部分区域，也包括被占用的车位的部分区域，以及目标车位“A104”的全部区域；在一些情况下，该第一车位图像也可以只包括目标车位的部分。
示例性地，该第一车位图像可以包括多个车位，根据该第一车位图像可以确定车位的标识。例如，根据图13中的(a)所示图像，可以确定车位标识“A104”和“A105”，由于二者包括相同的文本“A”，可以认为区域关键字为“A”；又例如，在确定目标车位后，可以确定目标车位的标识，比如“A104”，根据停车区域的标志物的图像，比如图9中的(a)，可以确定“A区”、“安全通道”、“←”等多个文本，由于目标车位的标识“A104”与“A区”具有共同的关键字“A”，可以确定停车区域标识为“A区”，相应地，区域关键字为“A”，为了简洁，此处不再一一举例说明。应理解，以上关于区域关键字的示例只是说明，本申请实施例对此不做限定。
一些可能的实现方式中，获取模块3510还可以用于：获取车位指示信息，该车位指示信息可以用于指示目标车位所处区域；处理模块3520具体可以用于：根据该车位指示信息和第一车位图像，确定目标车位的标识。
示例性地，关于车位指示信息的描述可以参照步骤S1110等。
示例性地，根据该车位指示信息和该第一车位图像，可以确定第一车位图像中的部分
一些可能的实现方式中，处理模块3520还可以用于，根据该第一车位图像，确定第一比例，该第一比例可以用于指示目标车位在该第一车位图像中的占比，该处理模块3520，具体可以用于，根据第一车位图像和该第一比例，确定目标车位的标识。
示例性地，根据第一车位图像可以确定至少一个车位在该图像中的占比，根据该占比可以确定目标车位，从而可以确定目标车位的标识。例如，如图13中的(a)所示图像，可以确定A104、A105等多个车位在该图像中的占比，比如可以其中占比最大的车位确定为目标车位，从而可以在没有车位指示信息的情况下，确定目标车位，从而可以确定目标车位的标识；又例如，在摄像头采集的图像存在畸变时，可以对该图像进行畸变矫正处理后，再确定其中多个车位的占比，由此确定目标车位的标识。应理解，以上关于第一比例的描述只是示例，以便于说明，本申请实施例对此不做限定。
一些可能的实现方式中，处理模块3520具体可以用于，根据该第一车位图像，确定一个或多个车位信息文本；根据该一个或多个车位信息中至少一个车位信息文本的置信度，确定目标车位的标识。
示例性地，根据该第一车位图像，可以确定一个或多个文本，该文本可以称为车位信息文本，根据该车位信息文本的置信度，可以确定目标车位的标识。例如，在实际场景中，车位除了可以包括车位的标识之外，还可以包括其他信息，比如，“专用车位”、“禁止占用”等，根据第一车位图像通过OCR技术可能得到多个文本，可以根据该多个文本的置信度确定目标车位的标识。
示例性地，以上关于置信度的描述可以参照步骤S1130等。
一些可能的实现方式中，车辆包括车载显示装置，处理模块3520，还可以用于控制该车载显示装置显示目标车位的图像。例如，可以是向该车载显示装置发送消息以指示车载显示装置显示该目标车位的图像，也可以是向其他控制装置发送消息，以指示其他控制装置控制车载显示装置显示该目标车位的图像；又例如，可以是仅显示该目标车位的图像，也可以是显示的图像中包括目标车位在内的多个车位，进一步地，比如可以以线框的形式突出该图像中的目标车位；再例如，显示的图像中可以包括目标车位的部分区域，比如其标识所在的区域，还可以是以文本的形式显示该目标车位的标识。应理解，以上在车载显示装置显示目标车位的方式仅是示例，本申请实施例对此不做限定。
一些可能的实现方式中，该装置还包括发送模块3530，该发送模块3520可以用于，在确定目标车位的标识之后，发送第一消息，该第一消息可以用于指示目标车位。
示例性地，关于第一消息的描述，可以参照步骤S1130等。
一些可能的实现方式中，处理模块3520，具体用于：根据标志物的图像，确定一个或多个标志物信息；根据该一个或多个标志物信息，确定停车区域标识，该停车区域标识所指示的区域为该停车区域。
示例性地，根据停车区域的标志物的图像，可以确定一个或多个标志物信息，根据该标志物信息可以确定停车区域标识。例如，根据停车区域的标志物的图像确定多个文本时，可以根据该多个文本的置信度，确定停车区域的标识；又例如，可以根据该多个文本，结合目标车位的标识中的区域关键字，确定停车区域标识。应理解，以上确定停车区域标识的方法只是举例，以便于说明，本申请实施例对此不做限定。
示例性地，确定停车区域标识的方法可以参照步骤S1450等。
一些可能的实现方式中，该处理模块3520，还可以用于，控制车载显示装置显示该停车区域标识。
示例性地，可以控制车载显示装置显示停车区域的标志物的图像，该图像可以包括该停车区域标识，进一步地，比如可以以线框、颜色等方式突出该停车区域标识，也可以是在该车载显示装置中显示停车区域的标识的文本。应理解，以上显示停车区域标识的方法只是举例，本申请实施例对此不做限定。
一些可能的实现方式中，发送模块3520，还可以用于，在确定停车区域之后，发送第二消息，该第二消息可以用于指示停车区域。
示例性地，关于第二消息的描述可以参照步骤S1450等。
一些可能的实现方式中，在获取周边环境数据之前，获取模块3510具体可以用于，获取语音指令或用户操作信息；处理模块3520还可以用于：根据该语音指令，检测停车语音指令，该停车语音指令可以用于指示用户存在停车意图，在检测到停车语音指令时，启动第一传感器；或，根据用户操作信息，检测第一操作，该第一操作可以用于指示用户存在停车意图，在检测到第一操作信息时，启动该第一传感器；控制该第一传感器采集周边环境数据。
示例性地，关于停车语音指令、第一操作的描述可以参照步骤S1010等。
一些可能的实现方式中，在获取周边环境数据之前，处理模块3520，还可以用于：在确定车辆位于停车场区域时，启动第一传感器；控制第一传感器采集周边环境数据。
一些可能的实现方式中，获取模块3510还可以用于，获取第一状态参数；处理模块3520可以用于，在该第一状态参数小于或等于第一阈值时，进行停车场标志物检测；在检测到停车场标志物时，可以确定车辆位于停车场区域。
示例性地，该第一状态参数可以包括车辆与停车场入口间的距离、车速、GNSS信号的信号质量中的至少一项。
示例性地，关于第一状态参数、停车场标志物等的描述可以参照步骤S910等。
一些可能的实现方式中，该停车区域的标志物为立柱。
示例性地，图38是本申请实施例提供的一种停车交互的装置的结构示意图。该装置3600可以包括：获取模块3610，用于在车辆进入第一区域时，获取该第一区域的信息；在该车辆进入第二区域时，获取该第二区域的信息，该第二区域位于该第一区域内；处理模块3620，用于根据该第一区域的信息和该第二区域的信息，确定该车辆的停车位置信息。
一些可能的实现方式中，该第一区域可以为停车场的停车楼层和/或停车分区；该第二区域可以包括车辆停车的车位；该停车位置信息包括该车辆停车的该车位的信息，和，该停车楼层的信息和/或该停车分区的信息。
应理解，关于第一区域和第二区域的描述可以参照方法2900等。
一些可能的实现方式中，该获取模块3610，具体可以用于：获取第一指令，该第一指令用于指示该车辆的用户存在停车意图；根据该第一指令，获取该第二区域的信息。
示例性地，关于第一指令的描述可以参照方法2900等。
示例性地，该获取模块3610，具体可以用于：在检测到该车辆进入停车状态时，获取该第二区域的信息。例如，可以根据车辆的控制信号，确定车辆是否进入停车状态，比如，在检测到车辆的档位调整为倒车档时，可以确定车辆进入停车状态，等等。关于停车状态的描述可以参照方法2900，为了简洁，此处不再赘述。
示例性地，在检测到用户存在停车意图的操作时，可以确定车辆进入停车状态，关于存在停车意图的操作的描述，可以参照方法1000等的描述。
一些可能的实现方式中，该获取模块3610，还可以用于：在该车辆进入停车状态到该车辆完成停车的过程中，获取停车环境信息；该获取模块3610，具体可以用于：根据该停车环境信息，获取该第二区域的信息。
示例性地，在检测到档位调整为停车档、检测到驻车制动被触发、检测到用户通过交互界面确认车辆的停车位置信息后、在座舱内未检测到用户、检测到车辆下电或车辆熄火等情况下，可以确定完成停车过程。
示例性地，关于获取停车位的标识的描述可以参照步骤S1130等，关于获取停车分区的标识的描述可以参照步骤S1450等。
一些可能的实现方式中，该装置还可以包括：发送模块3630，可以用于发送第一提示消息，该第一提示消息包括该车辆的停车位置信息。
一些可能的实现方式中，该发送模块3630，具体可以用于：在检测到该车辆完成停车时，发送该第一提示消息。
一些可能的实现方式中，该装置还可以包括：接收模块3640，可以用于接收停车位置请求信息，该停车位置请求信息可以用于请求该车辆的停车位置信息；该发送模块3630，具体可以用于：根据该停车位置请求信息，发送该第一提示消息。
示例性地，该处理模块3620，还可以用于根据该停车位置请求信息，控制该发送模块3630，发送该第一提示消息。例如，该处理模块3630可以根据该停车位置请求信息，确定与发送该消息的电子设备建立连接；又例如，该处理模块3630可以根据该停车位置请求信息，确定发送该停车位置请求信息的电子设备，比如，在确定发送该停车位置请求信息的电子设备为云端的服务器时，可以控制该发送模块3630，发送该第一提示消息，在确定发送该停车位置请求信息的电子设备为手机等终端设备时，可以对该电子设备的用户身份信息进行认证，以确认该请求人的权限信息等。
一些可能的实现方式中，该停车位置请求信息携带有请求人身份信息，该发送模块3630，具体可以用于：根据该请求人身份信息，发送该第一提示消息。
示例性地，该处理模块3620，可以用于根据该请求人身份信息，确定该第一消息的内容。例如，在确定该请求人为未授权用户时，可以控制该发送模块不发送该第一提示消息；又例如，可以根据该请求人的权限，确定该第一提示消息中所携带的信息，关于第一提示消息的描述可以参照方法2900等。
一些可能的实现方式中，该获取模块3610，还可以用于：获取该第二区域的多个时刻的图像信息；该处理模块，还可以用于：根据该第二区域的该多个时刻的图像信息，确定多个标识信息；该获取模块3610具体可以用于：根据该多个标识信息，获取该第二区域的标识，该第二区域的信息包括该第二区域的标识。
一些可能的实现方式中，该多个标识信息可以包括至少两个第一残缺标识，该第一残缺标识包括该第二区域的标识的部分，该获取模块3610，具体可以用于：对该至少两个第一残缺标识中的多个第一残缺标识进行拼接融合，获取该第二区域的标识。
示例性地，该获取模块3610，具体可以用于：根据该多个标识信息中的至少一个标识信息的置信度，获取该第二区域的标识。
示例性地，该获取模块3610，可以用于获取该第二区域的图像信息，该处理模块3620，可以用于根据该图像信息，识别得到一个或多个标识信息，可以对残缺的标识信息进行拼接融合，可以根据标识信息的置信度，从该标识信息中确定第二区域的标识。示例性地，根据目标车位、停车分区的多个时刻的图像，确定目标车位的标识、停车分区的标识的描述，可以参照方法2400、2500、2900等。
一些可能的实现方式中，该获取模块3610，还可以用于：当该车辆进入该第一区域时，获取第一触发条件，该第一触发条件用于指示，获取该第一区域的信息所需满足的条件；该获取模块3610，具体可以用于：在满足该第一触发条件时，获取该第一区域的信息。
一些可能的实现方式中，该获取模块3610，还可以用于：在确定该车辆进入停车场时，获取车辆的周边环境信息，该周边环境信息用于获取该第一区域的信息，和/或该第二区域的信息。
示例性地，关于确定车辆处于停车区域的方法，可以参照方法900等的描述。
一些可能的实现方式中，该处理模块3620还可以用于：根据该车辆上的传感器采集的数据，检测第一区域的标志物；该获取模块3610，具体可以用于：根据该第一区域的标志物，获取该第一区域的信息。
示例性地，该第一区域包括停车分区时，该第一区域的标志物可以为停车场立柱、停车场内墙等，关于该标志物的描述，可以参照方法1400等。
示例性地，该获取模块3610具体可以用于，根据第一区域的标志物的图像信息，确定一个或多个标志物信息；根据该一个或多个标志物信息中至少一个标志物信息的置信度，获取该第一区域的信息。
示例性地，该车辆可以包括车载显示装置，该处理模块3620，还可以用于：在获取该第一区域的信息时，控制该车载显示装置显示该第一区域的信息；和/或，在获取第二区域的信息时，控制该车载显示装置显示该第二区域的信息。可以是该处理模块直接控制该车载显示装置显示该第一区域、第二区域的信息，也可以是该处理模块通过发送指示消息，通过其他控制装置控制该车载显示装置的显示，本申请对此不做限定。
示例性地，该第一区域包括停车楼层，该获取模块3610，还可以用于获取该车辆的俯仰角信息，该获取模块3610具体可以用于根据该车辆的俯仰角信息，确定该停车楼层的信息。
示例性地，该第一区域包括停车楼层，该停车楼层可以与停车场的楼层间通道相连，该获取模块3610还可以用于：在确定该车辆处于楼层间通道时，获取通道指引标识，该通道指引标识包括与该楼层间通道相连的楼层的信息；获取模块具体可以用于，根据该通道指引标识，获取该停车楼层的信息。
示例性地，关于确定停车楼层的方式的描述，可以参照方法2900等。
示例性地，该第一区域包括停车楼层时，该第一标志物可以为楼层间通道，车辆在楼层间通道行驶可以由一个楼层进入另一个楼层，该第一标志物也可以是楼层间通道与楼层的交叉路口，该交叉路口可以是T字路口，也可以是十字路口，等等。
应理解，本申请中所涉及的用户信息的获得、保存、利用、处理等操作/行为，均为在符合当地法律规定下的合规使用。例如，本专利中所涉及的用户信息的获得、保存、利用、处理等操作表示在已获得个人同意情况下的操作。
应理解以上装置中各单元的划分仅是一种逻辑功能的划分，实际实现时可以全部或部分集成到一个物理实体上，也可以物理上分开。此外，装置中的单元可以以处理器调用软件的形式实现；例如装置包括处理器，处理器与存储器连接，存储器中存储有指令，处理器调用存储器中存储的指令，以实现以上任一种方法或实现该装置各单元的功能，其中处理器例如为通用处理器，例如CPU或微处理器，存储器为装置内的存储器或装置外的存储器。或者，装置中的单元可以以硬件电路的形式实现，可以通过对硬件电路的设计实现部分或全部单元的功能，该硬件电路可以理解为一个或多个处理器；例如，在一种实现中，该硬件电路为ASIC，通过对电路内元件逻辑关系的设计，实现以上部分或全部单元的功能；再如，在另一种实现中，该硬件电路为可以通过PLD实现，以FPGA为例，其可以包括大量逻 辑门电路，通过配置文件来配置逻辑门电路之间的连接关系，从而实现以上部分或全部单元的功能。以上装置的所有单元可以全部通过处理器调用软件的形式实现，或全部通过硬件电路的形式实现，或部分通过处理器调用软件的形式实现，剩余部分通过硬件电路的形式实现。
在本申请实施例中，处理器是一种具有信号的处理能力的电路，在一种实现中，处理器可以是具有指令读取与运行能力的电路，例如CPU、微处理器、GPU、或DSP等；在另一种实现中，处理器可以通过硬件电路的逻辑关系实现一定功能，该硬件电路的逻辑关系是固定的或可以重构的，例如处理器为ASIC或PLD实现的硬件电路，例如FPGA。在可重构的硬件电路中，处理器加载配置文档，实现硬件电路配置的过程，可以理解为处理器加载指令，以实现以上部分或全部单元的功能的过程。此外，还可以是针对人工智能设计的硬件电路，其可以理解为一种ASIC，例如NPU、TPU、DPU等。
可见，以上装置中的各单元可以是被配置成实施以上方法的一个或多个处理器(或处理电路)，例如：CPU、GPU、NPU、TPU、DPU、微处理器、DSP、ASIC、FPGA，或这些处理器形式中至少两种的组合。
此外，以上装置中的各单元可以全部或部分可以集成在一起，或者可以独立实现。在一种实现中，这些单元集成在一起，以片上系统(system-on-a-chip，SOC)的形式实现。该SOC中可以包括至少一个处理器，用于实现以上任一种方法或实现该装置各单元的功能，该至少一个处理器的种类可以不同，例如包括CPU和FPGA，CPU和人工智能处理器，CPU和GPU等。
示例性地，在具体实现过程中，上述获取模块3610和处理模块3620所执行的各项操作可以由同一个处理器执行，或者，也可以由不同的处理器执行，例如分别由多个处理器执行。一示例，一个或多个处理器可以与图1中的感知系统120中一个或多个传感器相连接，从一个或多个传感器中获取周边环境信息；又一示例，一个或多个处理器可以根据处理后的周边环境信息，确定第一区域的信息、第二区域的信息，该确定第一区域、第二区域的信息的处理器，与获取周边环境信息的处理器，可以是同一个处理器，也可以是不同的处理器，多个处理器之间可以通过内部电路相连，可以通过内部电路传递消息。示例性地，在具体实现过程中，上述一个或多个处理器可以设置在车机中的处理器，或者也可以为设置在其他车载终端中的处理器。示例性地，在具体实现过程中，上述装置3600可以为设置在车机或者其他车载终端中的芯片。示例性地，在具体实现过程中，上述装置3600可以为设置在车辆中的如图1所示的计算平台150。为了简洁，此处不再一一举例说明。
本申请实施例还提供了一种装置，该装置包括处理单元和存储单元，其中存储单元用于存储指令，处理单元执行存储单元所存储的指令，以使该装置执行上述实施例执行的方法或者步骤。
可选地，上述处理单元可以包括至少一个处理器，上述存储单元可以是存储器，其中存储器可以是芯片内的存储单元(例如，寄存器、缓存等)，也可以是交通工具内位于芯片外部的存储单元(例如，只读存储器、随机存取存储器等)。
可选地，若该装置位于车辆中，上述处理单元可以是图1所示的处理器151-15n。
示例性地，图39为本申请实施例提供的一种装置5000的结构示例图。装置5000包括处理器5002、通信接口5003和存储器5004。装置5000的一种示例为芯片。装置5000的另一种示例为计算设备。
处理器5002、存储器5004和通信接口5003之间可以通过总线通信。存储器5004中存储有可执行代码，处理器5002读取存储器5004中的可执行代码以执行对应的方法。存储器5004中还可以包括操作系统等其他运行进程所需的软件模块。
例如，存储器5004中的可执行代码用于实现图10至图31所示的方法，处理器5002读取存储器5004中的该可执行代码以执行图10至图31所示的方法。
其中，处理器5002可以为CPU。存储器5004可以包括易失性存储器(volatile memory，VM)，例如随机存取存储器。存储器5004还可以包括非易失性存储器(non-volatile memory，NVM)，例如只读存储器，快闪存储器，硬盘驱动器(hard disk drive，HDD)或固态启动器(solid state disk，SSD)。
本申请实施例还提供了一种车辆，该车辆6000可以包括上述图32至图35，或图37至图39中任一项所示的装置。
示例性地，图40示出了本申请实施例提供的一种系统7000的示意图，如图40所示，该系统7000可以包括车辆7100和电子设备7200，其中，该车辆7100可以包括上述图32至图35，或图37至图39中任一项所示的装置，电子设备7200可以为上述方法实施例中的手机等终端设备。该车辆7100可以 用于发送第一提示消息，该第一提示消息可以包括该车辆的停车位置信息，该电子设备7200可以用于，接收该第一提示消息，根据该第一提示消息，控制显示该车辆的停车位置。
示例性地，与该电子设备7200相关联的显示装置，可以显示该车辆的停车位置。例如，该电子设备为手机、智能手表、平板电脑等携带有显示屏的电子设备时，可以在其显示屏显示该车辆的停车位置；又例如，在该电子设备与外接显示装置相连时，也可以是控制该外接显示装置显示该车辆的停车位置。
示例性地，该电子设备7200还可以用于发送停车位置请求信息，该车辆7100可以用于接收该停车位置请求信息，可以用于根据该停车位置请求信息，发送该第一提示消息。
本申请实施例还提供了一种计算机程序产品，所述计算机程序产品包括：计算机程序代码，当所述计算机程序代码在计算机上运行时，使得计算机执行上述方法200及其任一可能的实现方式。
本申请实施例还提供了一种计算机可读介质，所述计算机可读介质存储有程序代码，当所述计算机程序代码在计算机上运行时，使得计算机执行上述方法200及其任一可能的实现方式。
示例性地，该计算机可读介质可以包括U盘、移动硬盘、只读存储器、随机存取存储器、磁碟或者光盘等各种可以存储程序代码的介质，本申请实施例对此不做限定。该计算机可读介质可以存储上述获取模块3610和/或处理模块3620的指令，在该计算机上运行该程序代码时，该计算机可以用于执行上述获取模块3610和/或处理模块3620所执行的操作。
本申请中术语“至少一个”的含义是指一个或多个，本申请中术语“多个”的含义是指两个或两个以上。
本申请中术语“第一”“第二”等字样用于对作用和功能基本相同的相同项或相似项进行区分，应理解，“第一”、“第二”、“第n”之间不具有逻辑或时序上的依赖关系，也不对数量和执行顺序进行限定。例如，“第一消息”和“第二消息”仅用于区分，不代表“第一消息”和“第二消息”的优先级不同。
应理解，在本申请的各个实施例中，各个过程的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本申请实施例的实施过程构成任何限定。
应理解，根据A确定B并不意味着仅仅根据A确定B，还可以根据A和/或其它信息确定B。
应理解，本文中术语“和/或”，仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。
应理解，在本申请的各种实施例中，上述各过程的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本申请实施例的实施过程构成任何限定。
在本说明书中使用的术语“部件”、“模块”、“系统”等用于表示计算机相关的实体、硬件、固件、硬件和软件的组合、软件、或执行中的软件。例如，部件可以是但不限于，在处理器上运行的进程、处理器、对象、可执行文件、执行线程、程序和/或计算机。通过图示，在计算设备上运行的应用和计算设备都可以是部件。一个或多个部件可驻留在进程和/或执行线程中，部件可位于一个计算机上和/或分布在2个或更多个计算机之间。此外，这些部件可从在上面存储有各种数据结构的各种计算机可读介质执行。部件可例如根据具有一个或多个数据分组(例如来自与本地系统、分布式系统和/或网络间的另一部件交互的二个部件的数据，例如通过信号与其它系统交互的互联网)的信号通过本地和/或远程进程来通信。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
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，上述描述的系统、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。
在本申请所提供的几个实施例中，应该理解到，所揭露的系统、装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。
所述功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器、随机存取存储器、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。

Claims (41)

  1. 一种停车交互的方法，其特征在于，包括：
    在车辆进入第一区域时，获取所述第一区域的信息；
    在所述车辆进入第二区域时，获取所述第二区域的信息，所述第二区域位于所述第一区域内；
    根据所述第一区域的信息和所述第二区域的信息，确定所述车辆的停车位置信息。
  2. 根据权利要求1所述的方法，其特征在于，所述第一区域为所述车辆所处的停车场的停车楼层和/或停车分区；
    所述第二区域包括所述车辆停车的车位；
    所述停车位置信息包括所述车辆停车的所述车位的信息，和，所述停车楼层的信息和/或所述停车分区的信息。
  3. 根据权利要求1或2所述的方法，其特征在于，所述在所述车辆进入第二区域时，获取所述第二区域的信息，包括：
    获取第一指令，所述第一指令用于指示所述车辆的用户存在停车意图；
    根据所述第一指令，获取所述第二区域的信息。
  4. 根据权利要求1或2所述的方法，其特征在于，所述在所述车辆进入第二区域时，获取所述第二区域的信息，包括：
    在检测到所述车辆进入停车状态时，获取所述第二区域的信息。
  5. 根据权利要求4所述的方法，其特征在于，所述方法还包括：
    在所述车辆进入所述停车状态到所述车辆完成停车的过程中，获取停车环境信息；
    所述获取所述第二区域的信息，包括：
    根据所述停车环境信息，获取所述第二区域的信息。
  6. 根据权利要求1至5中任一项所述的方法，其特征在于，所述方法还包括：
    发送第一提示消息，所述第一提示消息包括所述车辆的所述停车位置信息。
  7. 根据权利要求6所述的方法，其特征在于，所述发送第一提示消息，包括：
    在检测到所述车辆完成停车时，发送所述第一提示消息。
  8. 根据权利要求6所述的方法，其特征在于，所述方法还包括：
    接收停车位置请求信息，所述停车位置请求信息用于请求获取所述车辆的所述停车位置信息；
    所述发送第一提示消息，包括：
    根据所述停车位置请求信息，发送所述第一提示消息。
  9. 根据权利要求8所述的方法，其特征在于，所述停车位置请求信息携带有请求人身份信息，所述根据所述停车位置请求信息，发送所述第一提示消息，包括：
    根据所述请求人身份信息，发送所述第一提示消息。
  10. 根据权利要求1至9中任一项所述的方法，其特征在于，所述方法还包括：
    获取所述第二区域的多个时刻的图像信息；
    根据所述第二区域的所述多个时刻的图像信息，确定多个标识信息；
    所述获取第二区域的信息，包括：
    根据所述多个标识信息，获取所述第二区域的标识，所述第二区域的信息包括所述第二区域的标识。
  11. 根据权利要求10所述的方法，其特征在于，所述多个标识信息包括至少两个第一残缺标识，所述第一残缺标识包括所述第二区域的标识的部分，所述根据所述多个标识信息，获取所述第二区域的标识，包括：
    对所述至少两个第一残缺标识中的多个所述第一残缺标识进行拼接融合，获取所述第二区域的标识。
  12. 根据权利要求10或11所述的方法，其特征在于，所述根据所述多个标识信息，获取所述第二区域的标识，包括：
    根据所述多个标识信息中至少一个所述标识信息的置信度，获取所述第二区域的标识。
  13. 根据权利要求1至12中任一项所述的方法，其特征在于，所述方法还包括：
    在确定所述车辆进入所述停车场时，获取所述车辆的周边环境信息，所述周边环境信息用于获取所述第一区域的信息，和/或所述第二区域的信息。
  14. 根据权利要求1至13中任一项所述的方法，其特征在于，所述方法还包括：
    根据所述车辆上的传感器采集的数据，检测所述第一区域的标志物；
    所述获取所述第一区域的信息，包括：
    根据所述第一区域的所述标志物，获取所述第一区域的信息。
  15. 根据权利要求14所述的方法，其特征在于，所述根据所述第一区域的所述标志物，获取所述第一区域的信息，包括：
    根据所述第一区域的所述标志物的图像信息，确定一个或多个标志物信息；
    根据所述一个或多个标志物信息中至少一个所述标志物信息的置信度，获取所述第一区域的信息。
  16. 根据权利要求1至15中任一项所述的方法，其特征在于，所述车辆包括车载显示装置，所述方法还包括：
    在获取所述第一区域的信息时，控制所述车载显示装置显示所述第一区域的信息；和/或，
    在获取所述第二区域的信息时，控制所述车载显示装置显示所述第二区域的信息。
  17. 根据权利要求1至16中任一项所述的方法，其特征在于，所述第一区域包括所述停车楼层，所述方法还包括：
    获取所述车辆的俯仰角信息；
    所述获取所述第一区域的信息，包括：
    根据所述俯仰角信息，确定所述停车楼层的信息。
  18. 根据权利要求1至17中任一项所述的方法，其特征在于，所述第一区域包括所述停车楼层，所述停车楼层与所述停车场的楼层间通道相连，所述方法还包括：
    在确定所述车辆通过所述楼层间通道时，获取通道指引标识，所述通道指引标识包括与所述楼层间通道相连的楼层的信息；
    所述获取所述第一区域的信息，包括：
    根据所述通道指引标识，获取所述停车楼层的信息。
  19. 一种停车交互的装置，其特征在于，包括：
    获取模块，用于在车辆进入第一区域时，获取所述第一区域的信息；在所述车辆进入第二区域时，获取所述第二区域的信息，所述第二区域位于所述第一区域内；
    处理模块，用于根据所述第一区域的信息和所述第二区域的信息，确定所述车辆的停车位置信息。
  20. 根据权利要求19所述的装置，其特征在于，所述第一区域为所述车辆所处的停车场的停车楼层和/或停车分区；所述第二区域包括所述车辆停车的车位；所述停车位置信息包括所述车辆停车的所述车位的信息，和，所述停车楼层的信息和/或所述停车分区的信息。
  21. 根据权利要求19或20所述的装置，其特征在于，所述获取模块，具体用于：
    获取第一指令，所述第一指令用于指示所述车辆的用户存在停车意图；
    根据所述第一指令，获取所述第二区域的信息。
  22. 根据权利要求19或20所述的装置，其特征在于，所述获取模块，具体用于：
    在检测到所述车辆进入停车状态时，获取所述第二区域的信息。
  23. 根据权利要求22所述的装置，其特征在于，所述获取模块，还用于：
    在所述车辆进入所述停车状态到所述车辆完成停车的过程中，获取停车环境信息；
    所述获取模块，具体用于：
    根据所述停车环境信息，获取所述第二区域的信息。
  24. 根据权利要求19至23中任一项所述的装置，其特征在于，所述装置还包括：
    发送模块，用于发送第一提示消息，所述第一提示消息包括所述车辆的所述停车位置信息。
  25. 根据权利要求24所述的装置，其特征在于，所述发送模块，具体用于：
    在检测到所述车辆完成停车时，发送所述第一提示消息。
  26. 根据权利要求24所述的装置，其特征在于，所述装置还包括：
    接收模块，用于接收停车位置请求信息，所述停车位置请求信息用于请求所述车辆的所述停车位置信息；
    所述发送模块，具体用于：
    根据所述停车位置请求信息，发送所述第一提示消息。
  27. 根据权利要求26所述的装置，其特征在于，所述停车位置请求信息携带有请求人身份信息，所述发送模块，具体用于：
    根据所述请求人身份信息，发送所述第一提示消息。
  28. 根据权利要求19至27中任一项所述的装置，其特征在于，所述获取模块，还用于：
    获取所述第二区域的多个时刻的图像信息；
    所述处理模块，还用于：
    根据所述第二区域的所述多个时刻的图像信息，确定多个标识信息；
    所述获取模块，具体用于：
    根据所述多个标识信息，获取所述第二区域的标识，所述第二区域的信息包括所述第二区域的标识。
  29. 根据权利要求28所述的装置，其特征在于，所述多个标识信息包括至少两个第一残缺标识，所述第一残缺标识包括所述第二区域的标识的部分，所述获取模块，具体用于：
    对所述至少两个第一残缺标识中的多个所述第一残缺标识进行拼接融合，获取所述第二区域的标识。
  30. 根据权利要求28或29所述的装置，其特征在于，所述获取模块，具体用于：
    根据所述多个标识信息中至少一个所述标识信息的置信度，获取所述第二区域的标识。
  31. 根据权利要求19至30中任一项所述的装置，其特征在于，所述获取模块，还用于：
    在确定所述车辆进入所述停车场时，获取所述车辆的周边环境信息，所述周边环境信息用于获取所述第一区域的信息，和/或所述第二区域的信息。
  32. 根据权利要求19至31中任一项所述的装置，其特征在于，所述处理模块还用于：
    根据所述车辆上的传感器采集的数据，检测所述第一区域的标志物；
    所述获取模块，具体用于：
    根据所述第一区域的所述标志物，获取所述第一区域的信息。
  33. 根据权利要求32所述的装置，其特征在于，所述获取模块，具体用于：
    根据所述第一区域的所述标志物的图像信息，确定一个或多个标志物信息；
    根据所述一个或多个标志物信息中至少一个所述标志物信息的置信度，获取所述第一区域的信息。
  34. 根据权利要求19至33中任一项所述的装置，其特征在于，所述车辆包括车载显示装置，所述处理模块，还用于：
    在获取所述第一区域的信息时，控制所述车载显示装置显示所述第一区域的信息；和/或，
    在获取所述第二区域的信息时，控制所述车载显示装置显示所述第二区域的信息。
  35. 根据权利要求19至34中任一项所述的装置，其特征在于，所述第一区域包括所述停车楼层，所述获取模块，还用于：
    获取所述车辆的俯仰角信息；
    所述获取模块，具体用于：
    根据所述俯仰角信息，确定所述停车楼层的信息。
  36. 根据权利要求19至35中任一项所述的装置，其特征在于，所述第一区域包括所述停车楼层，所述停车楼层与所述停车场的楼层间通道相连，所述获取模块，还用于：
    在所述车辆通过所述楼层间通道时，获取通道指引标识，所述通道指引标识包括与所述楼层间通道相连的楼层的信息；
    所述获取模块，具体用于：
    根据所述通道指引标识，获取所述停车楼层的信息。
  37. 一种装置，其特征在于，包括处理器和存储器，所述存储器用于存储程序指令，所述处理器 用于调用所述程序指令来执行权利要求1至18中任一项所述的方法。
  38. 一种计算机可读存储介质，其特征在于，所述计算机可读介质存储有程序代码，当所述程序代码在计算机上运行时，使得计算机执行如权利要求1至18中任意一项所述的方法。
  39. 一种车辆，其特征在于，包括权利要求19至37中任一项所述的装置。
  40. 一种系统，其特征在于，包括车辆和电子设备，所述车辆包括权利要求19至37中任一项所述的装置；
    所述车辆，用于：
    发送第一提示消息，所述第一提示消息包括所述车辆的停车位置信息；
    所述电子设备，用于：
    接收所述第一提示消息；
    根据所述第一提示消息，控制显示所述车辆的停车位置。
  41. 根据权利要求40所述的系统，其特征在于，所述电子设备还用于：
    发送停车位置请求信息，所述停车位置请求信息用于请求所述车辆的所述停车位置信息；
    所述车辆，还用于：接收所述停车位置请求信息；
    所述车辆，具体用于：
    根据所述停车位置请求信息，发送所述第一提示消息。
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