WO2024002215A1 - 一种确定停车位置的方法和装置 - Google Patents

一种确定停车位置的方法和装置 Download PDF

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Publication number
WO2024002215A1
WO2024002215A1 PCT/CN2023/103667 CN2023103667W WO2024002215A1 WO 2024002215 A1 WO2024002215 A1 WO 2024002215A1 CN 2023103667 W CN2023103667 W CN 2023103667W WO 2024002215 A1 WO2024002215 A1 WO 2024002215A1
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WIPO (PCT)
Prior art keywords
parking
vehicle
floor
information
area
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/CN2023/103667
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English (en)
French (fr)
Inventor
金舟
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Huawei Technologies Co Ltd
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Huawei Technologies Co Ltd
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Filing date
Publication date
Application filed by Huawei Technologies Co Ltd filed Critical Huawei Technologies Co Ltd
Priority to EP23830384.6A priority Critical patent/EP4539015A4/en
Publication of WO2024002215A1 publication Critical patent/WO2024002215A1/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
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/485—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an optical system or imaging system
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/01—Determining conditions which influence positioning, e.g. radio environment, state of motion or energy consumption
    • G01S5/011—Identifying the radio environment
    • 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 and device for determining a parking location.
  • Embodiments of the present application provide a method and device for determining a parking location.
  • information about the area of the parking lot where the vehicle is located can be obtained based on the location of the vehicle, and then the parking location of the vehicle is determined, which facilitates improving the user's understanding of the parking location.
  • the experience of finding a car is a method and device for determining a parking location.
  • a method for determining a parking location includes: when the vehicle enters the parking lot, during the movement of the vehicle, obtaining the motion status information and/or surrounding environment information of the vehicle; according to the vehicle The vehicle's motion status information and/or surrounding environment information is used to determine the area where the vehicle is located in the parking lot.
  • the vehicle can pass through a or Multiple parking floors, and/or, one or more parking zones.
  • the location of the vehicle in the parking lot can be determined based on the location of the vehicle, the motion status information of the vehicle and/or the surrounding environment information. Area.
  • the motion status information of the vehicle may include the posture information of the vehicle, such as the pitch angle information of the vehicle, the location information of the vehicle, etc.
  • the location information of the vehicle may be based on the global satellite navigation system (global navigation).
  • the position of the vehicle determined by GNSS (satellite system) signals.
  • the surrounding environment information may include original environmental data collected by the vehicle's sensing sensors, such as point cloud information collected by radar, image information collected by cameras, etc. It may also include filtering of the original environmental data. Data processed by noise reduction, feature extraction, etc.
  • the vehicle's motion status information and/or surrounding environment information can be obtained according to the location of the vehicle, and then the area where the vehicle is located in the parking lot can be determined, and parking lot construction can be avoided.
  • surrounding objects such as structures block GNSS signals and the vehicle's position cannot be determined, it is helpful for users to know the parking position of the vehicle without any sense, which can improve the user's car-finding experience.
  • the method may further include: acquiring a GNSS signal; and determining a parking position positioning mode according to the signal quality of the GNSS signal, and the parking position positioning mode may include a first positioning mode or the second positioning mode, when working in the first positioning mode, determine the parking position of the vehicle based on the GNSS signal; determine the location of the vehicle in the parking lot based on the vehicle's motion status information and/or surrounding environment information.
  • the area includes: when determining that the parking positioning mode is the second positioning mode, determining the area where the vehicle is located in the parking lot based on the vehicle's motion status information and/or surrounding environment information.
  • the area where the vehicle is located in the parking lot can be determined based on the vehicle's movement status information and/or the surrounding environment information. Therefore, when the vehicle is parked, the area where the vehicle is located at this time can be determined.
  • Parking floor, parking area, parking space that is to say, according to the vehicle's motion status information and/or surrounding environment information, at least one of the vehicle's parking floor, parking area, and parking space can be determined.
  • the signal quality of the GNSS signal may be characterized by signal strength, GNSS signal status, and the like. For example, when the signal strength of the acquired GNSS signal is greater than or equal to a preset threshold (for example, -124dBm, -120dBm, etc.), the Determine the vehicle's position based on GNSS signals.
  • a preset threshold for example, -124dBm, -120dBm, etc.
  • the parking position positioning mode can be flexibly determined according to different scenarios, which is conducive to realizing the demand for parking positioning solutions in different scenarios, thereby meeting the needs of GNSS when the parking position is located in an outdoor parking lot, etc.
  • the parking location can be determined with low resource consumption, and the parking location determined based on the GNSS signal can facilitate users to quickly find a car based on the map. It can also meet the requirements when the parking location is in an indoor parking lot with poor GNSS signals.
  • the parking floor, parking area, parking space, etc. the user can quickly find a car, thereby improving the user experience.
  • the parking lot includes an inter-floor passage
  • determining the area where the vehicle is located in the parking lot based on the vehicle's motion state and/or surrounding environment information may include : Determine the first intersection that the vehicle passes through based on the surrounding environment information.
  • the first intersection may include the floors connected to the inter-floor passage and the intersection between the inter-floor passages; based on the first intersection that the vehicle passes through,
  • the parking floor of the parking lot where the vehicle is located can be determined.
  • the parking floor is the floor where the vehicle is in the parking position.
  • the first intersection may include a floor connected to the inter-floor passage and an intersection between the inter-floor passage. That is to say, the first intersection may be the entrance and exit of the inter-floor passage.
  • a vehicle passes between floors.
  • the exit of the passage on that floor in the direction of vehicle travel can be determined as the first intersection.
  • the entrance of the passage between floors into which the vehicle will drive can be determined as the first intersection. The first intersection.
  • road features and/or passage features may be determined based on the surrounding environment information, and the first intersection may be determined based on the road features and/or passage features.
  • an intersection can be detected based on the image acquired by the camera sensor, and the pitch angle information of the vehicle can be combined to determine whether the intersection is the first intersection; for another example, when the vehicle is driving in the channel, for example, the radar sensor and/or the radar sensor can be used to determine whether the intersection is the first intersection.
  • the data collected by the camera sensor can identify the side wall of the passage at the exit, so that the first intersection can be determined; for another example, the vehicle can detect the movement of the vehicle in real time when it enters the parking lot until it reaches the target parking space.
  • the first intersection can be determined from the multiple intersections based on the time period during which the vehicle passes through the multiple intersections and the vehicle pitch angle information. It should be understood that the above method for determining the first intersection is only an example, and the embodiments of the present application do not limit this.
  • the relative change of the floor can be determined according to the first intersection, and the floor position where the vehicle is currently located can be determined.
  • the surrounding environment information includes an image of a first channel
  • the first channel includes an inter-floor channel through which the vehicle passes, the motion state information of the vehicle and/or or surrounding environment information to determine the area where the vehicle is located in the parking lot, which may include: determining the channel guide mark based on the image of the first channel; determining the parking floor based on the channel guide mark.
  • passage guide signs can be used to indicate the passage in the passage between floors.
  • one or more signs can be identified based on the image of the first passage.
  • the passage guide sign can be ">>>>” or " ⁇ ”.
  • the passage guide sign can be "leading to the underground floor.” “, ">>>>leading to the underground level>>”, etc.
  • the floor keyword can be determined based on the passage guide identification.
  • the floor keyword can be "layer”, "B”, etc., when determining that the passage guidance identification (such as "leading to the underground floor”, “leading to B1", “xxx floor”, etc.) includes the floor keyword , the floor identification can be determined based on the keyword; for another example, after determining the confidence of the passage guidance identification, for example, the passage guidance identification that only includes symbols can be filtered out, and then the floor identification can be determined based on the floor keyword; for another example , when the vehicle passes through multiple inter-floor passages, the parking floor identification can be determined according to the time sequence of the acquired images of the multiple inter-floor passages.
  • the location of the channel guide mark can be determined based on the image of the first channel, and the floor mark can be determined based on the location of the channel guide mark. For example, in a scenario where the channel guide mark is located on the road surface of the passage between floors, you can only obtain the channel guide mark of the lane where the vehicle is located; for another example, when the channel guide mark is located on the side wall of the passage between floors, you can only obtain the passage on the passenger side of the vehicle. Logo on interior wall.
  • determining the parking floor based on the first intersection and passage guide signs can make full use of the information in the inter-floor passage and the entrance and exit of the inter-floor passage, thereby improving the accuracy of the determined parking floor.
  • the channel guide mark is determined through the image of the first channel, and the parking building is determined based on the channel guide mark. layer, which can reduce the difficulty of screening the identification of parking floors, and can also avoid the impact of the parking lot building structure on identifying parking floors, thereby improving the accuracy of determining parking floors.
  • the method may further include: when it is determined that the vehicle is located in the inter-floor passage, starting a second sensor; and controlling the second sensor to collect the surrounding environment information.
  • the second sensor may include one or more sensors of the same or different types.
  • the second sensor may include a plurality of camera sensors installed at different locations on the vehicle; for another example, the second sensor may include one or more installed camera sensors, and one or more radar sensors.
  • the second sensor when determining the passage between vehicle floors, the second sensor is activated and controlled to collect surrounding environment information, which can reduce the resource consumption of the second sensor. For vehicles driven by batteries, etc., it can be achieved to a certain extent. Improve the vehicle's cruising range.
  • the parking level may include: determining the number of inter-floor passages that the vehicle passes through based on the pitch angle information of the vehicle within the first period of time, where the starting time of the first period of time It is earlier than or equal to the time when the vehicle enters the first inter-floor passage, and the end time of the first duration is equal to or later than the time
  • 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 electric vehicles, new energy vehicles, etc., it can reduce the vehicle's power consumption and increase the vehicle's cruising range. .
  • determining the area where the vehicle is located in the parking lot based on the vehicle's motion status information and/or surrounding environment information includes: based on the surrounding environment information, The marker of the parking area is detected; the parking area is determined based on the image of the marker.
  • the parking zone may refer to the parking areas of parking lots such as "Area A”, “H-17", “B-17”, “H-10-2", and "xx Area”.
  • the marker may be a parking lot pillar, a parking lot interior wall, a sign, a hanging or posted sign, 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.
  • marking Object detection and obtaining the identification of the parking area based on the landmarks, can narrow the identification range of the identification of the parking area. On the one hand, it can reduce the interference of invalid information, and on the other hand, it can also improve the accuracy of the obtained identification of the parking area.
  • the markers of the parking area may be pillars.
  • the parking area is determined by acquiring an image of the pillar. , can reduce the impact of irrelevant identification on identifying parking areas, thereby improving the accuracy of determining parking areas, and can also save the cost in the process of identifying parking areas. Furthermore, it can also be used when the identification of the parking area cannot be identified. Next, identifying the parking area through this marker will help users know the parking area where the vehicle is located without taking pictures of the parking area through mobile phones and other terminal devices, making it easier for users to find cars.
  • the surrounding environment information includes a first parking space image
  • the first parking space image includes a first parking space
  • the first parking space includes a location where the vehicle is in a parking position.
  • Parking space determining the area where the vehicle is located in the parking lot based on the vehicle's motion status information and/or surrounding environment information includes: determining the identity of the first parking space based on the first parking space image.
  • the first parking space is equivalent to the parking space that the vehicle is expected to drive into. Therefore, the first parking space may also be called the target parking space.
  • the first parking space image may include part or all of the first 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, the first parking space may include partial area. 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 first parking space image may include images collected by multiple camera sensors and processed through image processing. reasonable image.
  • the first parking space image may be an image collected by multiple cameras and obtained through image stitching processing, such as an image obtained through a panoramic imaging system, or an image obtained through a see-through chassis function. ,wait. It should be understood that the above description of the first parking space image is only an example for ease of explanation, and the embodiments of the present application do not limit this.
  • the method may also include: 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 identity of the first parking space based on the first parking space image, which may include : Determine the identity of the first parking space based on the parking space indication information and the first parking space image.
  • image information of the first parking space at multiple times can be obtained, multiple identification information can be determined based on the image information of the first parking space at the multiple times, and based on the multiple identification information, the first parking space can be obtained.
  • Parking space identification For example, the identity of the first parking space can be determined based on the confidence levels of the multiple identities.
  • the plurality of identification information may include at least two parking space incomplete identifications
  • the parking space incomplete identification may include part of the identification of the first parking space
  • multiple parking spaces among the at least two parking space incomplete identifications may be incomplete.
  • the logos are spliced and fused to obtain the logo of the first parking space.
  • the incomplete identification of the parking space may include "A10" and "106", so that through splicing and fusion, the identification of the first parking space can be determined to be "A106".
  • the identification of the first parking space can be determined based on the confidence of the identification information. For example, based on the image of the first parking space, identification information such as “Fire Escape”, “A106", “Special Parking Space”, “ ⁇ ” may be recognized, and it can be considered that the identification only includes text, such as “Fire Escape”, “Special Parking Space” " has a low confidence level, and can be considered to be a sign that only includes symbols. For example, " ⁇ " has a low confidence level, so that the sign of the first parking space can be determined based on the confidence level of the sign information.
  • the parking space where the vehicle is located can be determined. Furthermore, combined with the parking space indication information, the accuracy of the determined identification of the first parking space can be improved.
  • the identification of the first parking space includes a region keyword
  • the method may further include: determining the parking zone according to the image of the landmark and the region keyword.
  • 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.
  • obtaining the motion state information and/or surrounding environment information of the vehicle includes: obtaining a first instruction, the first instruction being used to indicate the presence of a user of the vehicle Parking intention; according to the first instruction, obtain the motion status information and/or the surrounding environment information of the vehicle.
  • the first instruction may be one or more of a voice instruction, a touch instruction, a key instruction, a gesture instruction, and other instructions.
  • voice interaction when the user's voice commands such as "I want to park”, “automatic parking”, “enter the parking space”, etc.
  • a vehicle with the auxiliary parking function can control the vehicle to drive into the idle target parking space according to the detected idle target parking space, and obtain the information of the target parking space (for example, the logo and image of the target parking space, etc.); for another example, the motion status information and/or The surrounding environment information, for example, obtains the image information of surrounding free parking spaces, etc.; for another example, the user can use an air gesture to instruct the automatic parking function to be triggered. After the vehicle receives the air gesture, it determines that the user has the intention to park. According to the air gesture, the motion status information and/or the surrounding environment information of the vehicle are obtained.
  • acquiring the motion state information and/or surrounding environment information of the vehicle includes: acquiring the motion state information of the vehicle when it is detected that the vehicle enters the parking state. and/or the surrounding environment information.
  • the preset speed such as 3 kilometers/hour
  • the parking function of the vehicle can also be automatically controlled by The autonomous driving system or advanced assisted driving system realizes that after detecting that the vehicle starts automatic parking and auxiliary parking (also known as automatic parking and auxiliary parking), or after detecting user instructions to start automatic parking and auxiliary parking. After the function, it is considered that the vehicle has entered the parking state, and information about the free target parking spaces around the vehicle can be obtained; for another example, when the vehicle is detected to be in the parking state, its range can be adjusted by controlling the vehicle-mounted sensor to facilitate collection of target parking space information.
  • the autonomous driving system or advanced assisted driving system realizes that after detecting that the vehicle starts automatic parking and auxiliary parking (also known as automatic parking and auxiliary parking), or after detecting user instructions to start automatic parking and auxiliary parking. After the function, it is considered that the vehicle has entered the parking state, and information about the free target parking spaces around the vehicle can be obtained; for another example, when the vehicle is detected to be in the parking state, its range can be adjusted by controlling the vehicle-mounted sensor to facilitate collection of target parking space information.
  • the vehicle-mounted sensor may have an adjustable bracket, and the sensing range of the vehicle-mounted sensor can be adjusted by adjusting the posture of the bracket, and so on.
  • the vehicle control signal may be a vehicle control signal, such as a controller area network (CAN) signal, an Ethernet signal, etc.
  • CAN controller area network
  • Ethernet Ethernet
  • the vehicle's motion status information and/or surrounding environment data are obtained, thereby identifying the timing of parking, reducing invalid information in the obtained environmental data, and improving The accuracy of the determined parking location can also reduce the resource overhead used to determine the parking location.
  • obtaining the surrounding environment information may include, when it is detected that the vehicle enters the parking state, controlling the activation of the first sensor and controlling the first sensor to collect the surrounding environment information.
  • obtaining the surrounding environment information according to the first instruction may include, when the first instruction is detected, controlling the first sensor to start, and controlling the first sensor to collect the surrounding environment information.
  • the first sensor may include one or more sensors of the same or different types.
  • the first sensor may include a plurality of camera sensors installed at different locations on the vehicle; for another example, the first sensor may include one or more installed camera sensors, and one or more radar sensors.
  • the above first sensor and second sensor are only used for distinction. That is to say, the sensor activated when the user's parking intention is detected can be the same as the sensor activated when it is determined that the vehicle is in the inter-floor passage. , can also be different.
  • the sensor surrounding environment information is controlled, thereby reducing the resource overhead of the first sensor used to collect surrounding environment information, and also reducing invalid information in the acquired data. , in order to improve the accuracy of identifying the parking area, the first parking space, and the parking floor.
  • the method may further include: sending a first message, the first message being used to indicate at least one of the parking area, the first parking space, and the parking floor. item.
  • the first message may be sent.
  • the first message when working through the first positioning mode, can be used to indicate the parking position determined according to the GNSS signal; for another example, when working through the second positioning mode, the first message can be used to indicate At least one of the parking area, the first parking space, and the parking floor; for another example, the first message may indicate the parking location determined based on the GNSS signal by indicating the latitude and longitude information, altitude information, etc. of the parking location.
  • the vehicle can send the first message, and accordingly, a terminal device such as a mobile phone can receive the first message, thereby learning the parking location of the vehicle.
  • a terminal device such as a mobile phone
  • the parking location can be indicated to a terminal device such as a mobile phone, so that in scenarios such as indoor parking lots, the user can take pictures of the parking location of the vehicle without using a terminal device such as a mobile phone. Knowing the parking location of the vehicle can improve the user experience; or, in scenarios such as outdoor parking lots where the GPS signal is good, terminal devices such as mobile phones can determine the parking location determined based on the GPS signal, or the parking location can be determined based on the GPS signal. It is helpful to navigate users looking for cars based on the map and the location to improve the user experience.
  • a terminal device such as a mobile phone can display the vehicle's parking location information when receiving the first message, or can display the vehicle's parking location information when the user opens the application, or can also display the vehicle's parking location information on a specific interface of the mobile phone (such as a mobile phone).
  • the parking position of the vehicle is displayed on the negative screen, smart assistant page, etc.).
  • the first message may be an encrypted message.
  • the first message may be encrypted through symmetric encryption, asymmetric encryption, or other methods.
  • sending the first message may include: sending the first message when no user is detected in the cockpit of the vehicle.
  • whether there is a user in the cabin can be determined based on data collected by seat pressure sensors, camera sensors in the cabin, etc.
  • the first message when it is determined that there is no user in the vehicle's cabin, the first message is sent, which can reduce the frequency of sending the first message, thereby saving the traffic used in communication.
  • the first message can be sent when it is determined that the vehicle has completed parking.
  • the first message may be sent when it is determined that the vehicle is powered off, the vehicle is stalled, the parking brake is detected, and so on.
  • a parking location request message can be received, and the first information can be sent according to the parking location request message.
  • a terminal device such as a mobile phone can send a parking location request message. After receiving the parking location request message, the first message can be sent.
  • the terminal device such as a mobile phone can obtain the first message.
  • the parking location request information may carry the requester's identity information.
  • Sending the first message based on the parking location request information may include: determining the location indication information based on the requester's identity information; The location indication information is sent to the first message.
  • the authority of the requester can be determined based on the identity information of the requester.
  • the first prompt information 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 information may include the identification number of the parking space. Images and logos, images and logos of parking zones, images and logos of parking floors.
  • the requester only has partial permissions the content included in the first message can be determined based on the permissions of the requester, that is, That is, according to the identity and authority of the requester, the first message sent may include different contents, and the content included may be preset, or may be based on the content requested by the requester.
  • determining the parking position positioning mode according to the signal quality of the GNSS signal may include: determining the parking position when the signal quality of the GNSS signal is greater than or equal to the first threshold.
  • the positioning mode is the first positioning mode; or, when the signal quality of the GNSS signal is less than or equal to the first threshold, the parking position positioning mode is determined to be the second positioning mode.
  • the signal quality of the GNSS signal can be characterized by signal strength, number of serving satellites, etc.
  • the first threshold can be -130dBm, -125dBm, etc., or it can be when the signal strength of the GNSS signal is greater than or equal to 125dBm (another example is -123dBm, etc.) And when the duration is greater than or equal to 5 seconds (for example, 3 seconds, etc.), the signal quality of the GNSS signal is considered to be greater than or equal to the first threshold; for another example, the number of satellites above the current antenna field of view is not less than the preset number (such as 5, 6, etc.), the signal quality of the GNSS signal can be considered to be greater than or equal to the first threshold.
  • the first threshold can also be determined in other ways, which is not limited in this embodiment of the present application.
  • 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 preset condition may be related to the 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.
  • environmental data is obtained for parking lot marker detection, thereby reducing the reliance on sensors to collect environmental data in the process of determining whether the vehicle is located in the parking area. , can reduce the working time of the sensor, thereby reducing the power consumption of the sensor, and also help to start the corresponding functional module after determining that the vehicle is located in the parking area.
  • a device for determining the position of a vehicle includes: an acquisition module for acquiring the vehicle's motion status information and/or surrounding environment information during the movement of the vehicle when the vehicle enters the parking lot;
  • the processing module is used to determine the area where the vehicle is located in the parking lot based on the vehicle's motion status information and/or surrounding environment information.
  • the acquisition module can be used to acquire a GNSS signal; the processing module can be used to: determine the parking position positioning mode according to the signal quality of the GNSS signal, wherein the The parking position positioning mode may include a first positioning mode or a second positioning mode.
  • the processing module may be specifically used to determine the parking position positioning mode as In the second positioning mode, the area where the vehicle is located in the parking lot is determined based on the vehicle's motion status information and/or surrounding environment information.
  • At least one of the vehicle's parking floor, parking zone, and parking space can be determined.
  • the processing module may be specifically configured to: determine the first intersection through which the vehicle passes based on the surrounding environment information.
  • the first intersection may include a path connected to an inter-floor passage.
  • the floor, and the intersection between the passage between the floors; according to the first intersection passed by the vehicle, the parking floor of the parking lot where the vehicle is located can be determined.
  • the parking floor is the floor where the vehicle is in the parking position. .
  • the acquisition module can be specifically used to: acquire an image of a first channel, which may include an inter-floor channel through which the vehicle passes, and the processing module, Specifically, it can be used to: determine the channel guide mark based on the image of the first channel; determine the parking floor based on the channel guide mark.
  • the processing module is used to start the second sensor and control the second sensor to collect the surrounding environment information. This may be done by directly controlling the second sensor to start and collect the surrounding environment information, or by controlling the second sensor through other devices.
  • the sensor is activated and collects the surrounding environment information.
  • the second sensor can also be controlled to continue to be in the on state and collect the surrounding environment information. This is not limited in the embodiments of the present application.
  • the parking location positioning mode is the second positioning mode
  • the processing module can be specifically used to: detect a parking zone marker according to the surrounding environment information.
  • the object may include a pillar; based on the image of the marker, the parking zone is determined.
  • the acquisition module may be specifically used to: acquire a first parking space image, the first parking space image includes a first parking space, and the first parking space includes a vehicle in a parking position.
  • the parking space where the parking space is located at the time; the processing module can be specifically used to determine the identity of the first parking space based on the image of the first parking space.
  • the identification of the first parking space includes a region keyword
  • the processing module may be specifically configured to determine the parking zone based on the image of the landmark and the region keyword.
  • the acquisition module can also be used to: acquire a first instruction, the first instruction is used to indicate that the user of the vehicle has parking intention; the acquisition module can specifically Used to: obtain the vehicle's motion status information and/or surrounding environment information according to the first instruction.
  • the acquisition module may be specifically configured to: acquire the vehicle's motion state information and/or surrounding environment information when it is detected that the vehicle enters the parking state.
  • the processing module can also be used to detect whether the vehicle enters the parking state. For example, it can detect whether the vehicle enters the parking state according to the control signal of the vehicle.
  • the device may further include a sending module, and the sending module may be used to: send a first message, and the first message may be used to indicate the parking zone, the third At least one of a parking space and a parking floor.
  • the sending module may be configured to send the first message after determining the parking position of the vehicle.
  • the first message when working in the first positioning mode, can be used to indicate the parking position determined by the GNSS signal; for another example, when working in the second positioning mode, the first message can be used to indicate the parking zone. , the first parking space, and at least one of the parking floors.
  • the first message may be an encrypted message.
  • the sending module may be specifically configured to: send the first message when a user is not detected in the cockpit of the vehicle.
  • the first message may be sent when it is detected that the vehicle has completed parking.
  • the device may also include a receiving module.
  • the receiving module may be used to receive parking location request information.
  • the parking location request information may be used to request the parking location of the vehicle.
  • the sending module may be specifically used to: The first message is sent according to the parking location request information.
  • the parking location request information may include the requester's identity information
  • the sending module may be specifically configured to send the first message based on the requester's identity information.
  • the processing module may be specifically configured to: when the signal quality of the GNSS signal is greater than or equal to the first threshold, determine that the parking position positioning mode is the first positioning mode; Or, when the signal quality of the GNSS signal is less than or equal to the first threshold, the parking position positioning mode is determined to be the second positioning mode.
  • the acquisition module may also be used to: acquire the first state parameter, which may include the distance between the vehicle and the parking lot entrance, the vehicle speed, and the GNSS signal. At least one item of signal quality; the processing module can also be used to detect parking lot markers when the first state parameter meets the preset conditions; when the parking lot markers are detected, it can be determined that the vehicle is in the parking lot. area.
  • the first state parameter which may include the distance between the vehicle and the parking lot entrance, the vehicle speed, and the GNSS signal.
  • the processing module can also be used to detect parking lot markers when the first state parameter meets the preset conditions; when the parking lot markers are detected, it can be determined that the vehicle is in the parking lot. area.
  • a method for determining a parking floor includes: obtaining surrounding environment information; determining the first intersection that the vehicle passes through based on the surrounding environment information; and determining the parking floor based on the first intersection that the vehicle passes through.
  • the first intersection that the vehicle passes before entering the parking attitude can be determined, the first intersection that the vehicle passes before the parking operation can be determined, and so on.
  • the impact of the architectural structure of the indoor parking lot on the identification of parking floors can be reduced. It can be applied to a wider range of scenarios and can improve the determined parking floors. Accuracy of parking floors.
  • determining the parking floor based on the first intersection through which the vehicle passes may include: determining the relative change of the floor based on the determined first intersection; Changes determine parking floors.
  • the relative change of the floor where the vehicle is located before the vehicle enters the parking floor can be determined, and based on the relative change of the floor, the parking floor can be determined.
  • the method may further include: when it is determined that the vehicle is located in the inter-floor passage, a second sensor may be activated, and the second sensor may be controlled to collect surrounding environment information. Environmental information can be used to determine the first intersection.
  • the vehicle is located in the inter-floor passage according to the pitch angle information of the vehicle.
  • the second sensor when determining the passage between vehicle floors, the second sensor is activated and controlled to collect surrounding environment information, which can reduce the resource consumption of the second sensor. For vehicles driven by batteries, etc., it can be achieved to a certain extent. Improve the vehicle's cruising range.
  • the method may further include: after determining the parking floor, a parking floor indication message may be sent, and the parking floor indication message may be used to indicate the parking floor.
  • the parking floor indication message is sent, so that the user can learn the parking floor without taking pictures of the parking floor through terminal devices such as mobile phones and tablet computers, thereby improving the efficiency of the parking floor. User experience.
  • a fourth aspect another method of determining a parking floor is provided.
  • the method includes: acquiring an image of a first channel, which may include an inter-floor channel through which vehicles pass; and determining the channel based on the image of the first channel.
  • Guide signs determine the parking floor according to the passage guide signs.
  • the channel guide mark is determined through the image of the first channel, and the parking floor is determined according to the channel guide mark, which can reduce the difficulty of screening the signs of the parking floor and also avoid the impact of the parking lot building structure on identifying the parking lot.
  • the influence of floors can improve the accuracy of determining parking floors.
  • the method may further include: when it is determined that the vehicle is located in the inter-floor passage, a second sensor may be activated, and the second sensor may be controlled to collect surrounding environment information. Environmental information can be used to determine the first intersection.
  • the method may further include: after determining the parking floor, a parking floor indication message may be sent, and the parking floor indication message may be used to indicate the parking floor.
  • the floor identification may be determined based on the passage guidance identification.
  • the location of the channel guide mark can be determined based on the image of the first channel, and the floor mark can be determined based on the location of the channel guide mark. For example, in a scenario where the channel guide mark is located on the road surface of the passage between floors, you can only obtain the channel guide mark of the lane where the vehicle is located; for another example, when the channel guide mark is located on the side wall of the passage between floors, you can only obtain the passage on the passenger side of the vehicle. Logo on interior wall.
  • the fifth aspect provides another method of determining a parking floor.
  • the method includes: obtaining the pitch angle information within a first period of time.
  • the starting time of the first period of time may be earlier than or equal to the time when the vehicle first enters the inter-floor passage.
  • time, the end time of the first time period may be equal to or later than the time when the vehicle enters the parking floor; the parking floor is determined based on the pitch angle information within the first time period.
  • the pitch angle information of the vehicle can be obtained in real time.
  • data collected by sensors such as IMU can be obtained in real time, and real-time pitch angle data can be determined based on this data.
  • the moment when the vehicle first enters the inter-floor passage can be determined, and the moment when the vehicle last exits the inter-floor passage before being in the parking position can be determined, whereby the first time can be determined. duration.
  • the device executing the method needs to obtain pitch angle information from another device, the other device can provide the device with the pitch angle information of the vehicle within the period after determining the first period of time, thereby reducing communication between the two. amount of data.
  • determining the parking floor based on the pitch angle information within the first time period may include: determining the floor through which the vehicle passes based on the pitch angle information within the first time period. The number of inter-floor passages; determine the parking floor based on the number of inter-floor passages passed by the vehicle. For example, based on the pitch angle information within this period, the relative changes of the floors can be determined. For example, when the pitch angle of the vehicle is greater than or equal to the angle threshold, it can be determined that the vehicle is located in the inter-floor passage. number to determine the relative change of floors. For another example, the passage that a vehicle passes when going uphill can be determined as passing through the passage in the forward direction.
  • the number of passages between floors it passes can be recorded as +1.
  • the passing passage is determined to pass through the passage in the negative direction, and the number of passages between floors can be recorded as -1, thereby determining the parking floor; for another example, it can be determined that the absolute value of the change value of the pitch angle of the vehicle is greater than or equal to the angle
  • the parking floor is determined based on the pitch angle information of the vehicle. Since the acquisition of the pitch angle information does not rely on radar sensors or camera sensors, it is applicable to low-configuration models and can also save the time of determining the parking location.
  • the resource consumption used in the process for radar sensors, camera sensors, etc., for electric vehicles, new energy vehicles, etc., can reduce the vehicle's power consumption and increase the vehicle's cruising range.
  • a sixth aspect provides a method for determining that a vehicle is located in a parking lot area.
  • the method 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 seventh aspect provides a method for activating a sensor.
  • the method may include: obtaining voice instructions 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.
  • the sensor detects the first operation based on user operation information, and when the first operation is detected, one or more sensors are activated.
  • 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 drive into the target 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 a first parking space image; and determining the identity of a target parking space based on the first parking space image.
  • the first parking space image may include at least one parking space including the target parking space.
  • images of parking spaces at multiple times can be obtained, and the images at multiple times can include the target parking space.
  • video images collected by the camera sensor within a first period of time can be acquired, and the video can include images of 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 target parking space is located; according to the parking space indication information and the first parking space image, Determine the identification of the target parking space.
  • determining the identity of the target 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 confidence level of at least one parking space information text among the one or more parking space information texts determines the identity of the target parking space.
  • the vehicle includes a vehicle-mounted display
  • the method further includes: controlling the vehicle-mounted display to display the image of the target parking space.
  • the method further includes: sending a first message, the first message being used to indicate the target parking space.
  • 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 Knowing the location of the vehicle makes it easier for the user to find the vehicle.
  • an interactive method for indicating a parking location may include: obtaining vehicle location information, which may be used to indicate the parking location; and displaying a first interface, which may be used to indicate the parking location. Location.
  • the vehicle location information may be used to indicate at least one of the target parking space, parking area, parking floor, and first latitude and longitude information.
  • terminal devices such as mobile phones can obtain the target parking space indication information used to indicate the target parking space; the parking area indication information used to indicate the parking area can be obtained; the obtained vehicle position information can also be used to indicate the target parking space, and can also be used to indicate the target parking space.
  • Indicate the parking area that is to say, the target parking space indication information and the parking area indication information 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 methods of indicating target parking spaces and parking areas 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 parking location on the first interface, so that the user can know the parking location, facilitate the user to find the vehicle, and improve the user experience.
  • a device for determining a parking floor includes: an acquisition module for acquiring surrounding environment information; a processing module for determining the first intersection through which the vehicle passes based on the surrounding environment information; At the first intersection, determine the parking floor.
  • the processing module may be specifically configured to: determine the relative change of the floor based on the first intersection through which the vehicle passes; and determine the parking floor based on the relative change of the floor.
  • the processing module can also be used to: when it is determined that the vehicle is located in the inter-floor passage, the second sensor can be started, and the second sensor can be controlled to collect surrounding environment information, The surrounding environment information can be used to determine the first intersection.
  • the device may further include: a sending module, configured to send a parking floor indication message after determining the parking floor.
  • the parking floor indication message may be used to indicate the parking floor.
  • a device for determining a parking floor includes: an acquisition module for acquiring an image of a first channel, which may include an inter-floor channel through which a vehicle passes; and a processing module for According to the image of the first channel, the channel guide mark is determined; according to the channel guide mark, the parking floor is determined.
  • the processing module can also be used to: when it is determined that the vehicle is located in the inter-floor passage, the second sensor can be started, and the second sensor can be controlled to collect the surrounding environment. Information, the surrounding environment information, can be used to determine the first intersection.
  • the device may further include: a sending module, configured to determine After the parking floor, a parking floor indication message is sent, and the parking floor indication message can be used to indicate the parking floor.
  • a sending module configured to determine After the parking floor, a parking floor indication message is sent, and the parking floor indication message can be used to indicate the parking floor.
  • a device for determining a parking floor includes: an acquisition module for acquiring pitch angle information within a first period of time.
  • the starting time of the first period of time may be earlier than or equal to the first time the vehicle drives.
  • the time when the vehicle enters the inter-floor passage, the end time of the first time period may be equal to or later than the time when the vehicle enters the parking floor; the processing module is used to determine the parking floor based on the pitch angle information within the first time period.
  • the processing module may be specifically configured to: determine the number of inter-floor passages through which the vehicle passes based on the pitch angle information within the first period of time; The number of inter-floor passages that vehicles pass through determines the parking floor.
  • a device for determining that a vehicle is located in a parking lot area may include: an acquisition module for acquiring a first state parameter; and a processing module for when the first state parameter is less than or equal to the first state parameter.
  • parking lot marker detection is performed; it is also used to determine that the vehicle is located in the parking lot area when a parking lot marker is detected.
  • 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 parking voice instructions according to the voice instructions.
  • a processing module for: detecting parking voice instructions according to the voice instructions.
  • parking the voice command one or more sensing sensors are activated, or the first operation is detected based on the user operation information.
  • the first operation is used to indicate the user's parking intention.
  • one or more sensing 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 the The collected data determines the parking environment in which the vehicle is located.
  • a device for identifying a parking space may include: an acquisition module, which may be used to obtain an image of a first parking space; and a processing module, which may be used to determine the target parking space based on the first parking space image. logo.
  • 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 target parking space is in the first parking space.
  • the proportion of a parking space in the image; the processing module may be specifically used to determine the identity of the target parking space based on 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 target parking space.
  • the vehicle may include a vehicle-mounted display
  • the processing module may also be used to control the vehicle-mounted display to display an image of the target 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 target parking space.
  • the second aspect, the tenth to the sixteenth aspect, 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, a vehicle-mounted computer). ) or vehicles and other devices.
  • vehicle-mounted device such as a vehicle machine, a vehicle-mounted 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 at the indicated parking location.
  • 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 cloud One or more of service equipment, televisions, etc.
  • PDA personal digital assistant
  • 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 cloud One or more of service equipment, televisions, etc.
  • a device in a seventeenth 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 to ninth aspect. Any aspect of it, and any possible implementation method.
  • a computer-readable medium stores a program code for device execution.
  • the program code includes a program code for executing any of the above-mentioned first aspect, third aspect to ninth aspect. On the one hand, and any possible implementation of method in.
  • a nineteenth aspect provides a computer program product containing instructions.
  • 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 to ninth aspect, and method in any possible implementation.
  • a twentieth aspect provides a system, which may include a vehicle and an electronic device.
  • the vehicle may include the above-mentioned second aspect, tenth aspect to sixteenth aspect, and any possible implementation of any aspect thereof.
  • the device in Parking location.
  • the electronic device can also be used to send parking location request information, and the parking location request information can be used to request parking location information of the vehicle;
  • the vehicle may also be used to receive the parking location request information.
  • the vehicle may be used to send the first message according to the parking location request information.
  • Embodiments of the present application provide a method and device for determining a parking location.
  • the vehicle's motion status information and/or surrounding environment information can be obtained based on the location of the vehicle, thereby determining whether the vehicle is in the parking lot.
  • the vehicle In the area where the vehicle is located, it can avoid the situation where the GNSS signal is blocked by surrounding objects such as parking lot structures and cannot determine the location of the vehicle.
  • This helps the user to know the parking location of the vehicle without any sense, and can improve the user experience of finding a vehicle.
  • the parking position positioning mode can be flexibly determined based on the signal quality of the GNSS signal, which is conducive to realizing the needs for parking positioning solutions in different scenarios.
  • Determining the parking floor based on the number of first intersections that the vehicle passes through can reduce the impact of the architectural structure of the indoor parking lot on the identification of parking floors. It can be applied to a wider range of scenarios and can improve the accuracy of the determined parking floor. .
  • the parking floor can be determined by combining the channel guide signs, which can reduce the difficulty of identifying the parking floor signs, and can also avoid the impact of the parking lot building structure on the identification of the parking floor, thereby improving the accuracy of determining the parking floor. It can determine the vehicle's parking floor based on the vehicle's pitch angle information, and can be applied to models with fewer sensing sensors and lower configurations. Since it does not rely on the collection of external environment information, it can reduce sensor resource consumption.
  • the parking zone can be determined based on the image of the landmark in the parking zone, which can reduce the interference of signs located on other objects in identifying the parking zone, improve the accuracy of determining the parking zone, and can also save the cost in the process of identifying the parking zone. .
  • the accuracy of the determined parking zone can be improved.
  • the vehicle's motion status information and/or surrounding environment data are obtained, thereby identifying the timing of parking, reducing invalid information in the obtained environmental data, and improving the accuracy of the determined parking location. accuracy and can also reduce the resource overhead used to determine parking locations.
  • the first message Being able to send the first message enables terminal devices such as mobile phones to learn the area where the vehicle is located, allowing users to learn the parking location of the vehicle without using terminal devices such as mobile phones to take photos of the parking location of the vehicle, thereby improving user experience.
  • the frequency of sending the first message can be reduced, thereby saving traffic used for communication.
  • the dependence on the sensing sensor can be reduced in the process of determining whether the vehicle has entered the parking lot, and the power consumption of the sensor can be reduced, which is also beneficial After determining that the vehicle is in the parking lot area, start the corresponding function.
  • FIG. 1 is a functional block diagram of a vehicle 100 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.
  • Figure 5 is a schematic diagram of a type of floor passage provided by an embodiment of the present application.
  • FIG. 6 is a schematic diagram of a vehicle parking scene 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 a schematic diagram of a passage between floors provided by an embodiment of the present application.
  • Figure 11 is a schematic diagram of a system architecture for vehicle intelligent positioning provided by an embodiment of the present application.
  • Figure 12 is a schematic flow chart of a method for determining a parking floor provided by an embodiment of the present application.
  • Figure 13 is a schematic diagram of vehicle pitch angle information provided by an embodiment of the present application.
  • Figure 14 is a schematic flow chart of another method for determining a parking floor provided by an embodiment of the present application.
  • Figure 15 is a schematic flow chart of another method for determining a parking floor provided by an embodiment of the present application.
  • Figure 16 is a schematic diagram of a connection scenario between an inter-floor passage and a floor provided by an embodiment of the present application.
  • Figure 17 is an exemplary flow chart of a method for determining that a vehicle has entered a parking lot provided by an embodiment of the present application.
  • Figure 18 is an exemplary flow chart of a method for activating a sensor provided by an embodiment of the present application.
  • Figure 19 is an exemplary flow chart of a method for identifying a parking space identification provided by an embodiment of the present application.
  • Figure 20 is a schematic diagram of an image of a parking space provided by an embodiment of the present application.
  • Figure 21 is a schematic diagram of an interactive interface provided by an embodiment of the present application.
  • Figure 22 is a schematic flow chart of a method for identifying a parking area provided by an embodiment of the present application.
  • Figure 23 is a schematic diagram of another interactive interface provided by an embodiment of the present application.
  • Figure 24 is an exemplary flow chart of an interactive method for indicating a parking location provided by an embodiment of the present application.
  • Figure 25 is a schematic diagram of an interactive interface provided by an embodiment of the present application.
  • Figure 26 shows a set of graphical user interfaces provided by embodiments of the present application.
  • Figure 27 shows another set of graphical user interfaces provided by embodiments of the present application.
  • Figure 28 is an exemplary flow chart of a method for identifying a parking area provided by an embodiment of the present application.
  • Figure 29 is a schematic flow chart of a method for determining a parking location provided by an embodiment of the present application.
  • Figure 30 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 31 is a schematic structural diagram of a device for activating a sensor provided by an embodiment of the present application.
  • Figure 32 is a schematic structural diagram of a device for identifying parking space signs provided by an embodiment of the present application.
  • Figure 33 is a schematic structural diagram of a device for identifying a parking area provided by an embodiment of the present application.
  • Figure 34 is a schematic structural diagram of an interactive device for indicating a parking location provided by an embodiment of the present application.
  • Figure 35 is a schematic structural diagram of a device for determining a vehicle position provided by an embodiment of the present application.
  • Figure 36 is a schematic flow chart of a device for determining a parking floor provided by an embodiment of the present application.
  • Figure 37 is a schematic diagram of another device for determining a parking floor provided by an embodiment of the present application.
  • Figure 38 is a structural example diagram of a device provided by an embodiment of the present application.
  • Figure 39 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 microprocessor
  • GPU graphics processing unit
  • DSP digital signal processor
  • the processor can implement certain functions through the logical relationship of the hardware circuit, and the logical relationship of the hardware circuit is fixed or reconfigurable.
  • 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 Unit (deep learning processing unit, DPU), etc.
  • the computing platform 150 may also include a memory for storing instructions, and some or all of the processors 151 to 15n may call instructions in the memory. Execute the instructions to implement the 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. For example, as shown in Figure 2, 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. For example, as shown in Figure 2, 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 scenario in which a vehicle enters a parking lot according to an embodiment of the present application.
  • a parking lot entrance may include a barrier gate that may control road accessibility.
  • a barrier gate that may control road accessibility.
  • the barrier gate 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.
  • barrier gate is only an example for convenience of explanation. It should be understood that 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 arrows on the ground in Figure 4 can be used to indicate the driving direction.
  • the parking lot can include a sign 346, which can be suspended.
  • the signboard 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 or parking area signs, etc., such as interior wall 328; it should be understood that the above description of the vehicle parking scene is only an example for ease of explanation.
  • the parking lot may include more or fewer floors, such as indoor parking that only includes floor 350. fields, outdoor parking lots, etc.
  • FIG. 5 is a schematic diagram of a type of floor passage provided by an embodiment of the present application.
  • (a), (b), (c), (d) and (e) in Figure 5 respectively show several different types of inter-floor driving passages.
  • (a) in Figure 5 when the vehicle travels from floor 503 to floor 501 through the passage 505, its traveling direction may change; as shown in (b) in Figure 5, the vehicle travels from floor 505 through the passage When 507 travels to floor 501, its traveling direction may not change; (c) to (e) in Figure 5 are similar.
  • floor 350 and floor 360 in Figure 4 can be two adjacent floors, and floor 350 is higher than floor 360. See Figure 5, where the floor 350 and floor 360 in Figure 4 can be two adjacent floors.
  • 501 can be floor 350 in Figure 4
  • floor 503 can be floor 360
  • passage 505, passage 507, passage 509, passage 511, etc. can be passages connecting two adjacent floors, through which vehicles can travel from one floor to another.
  • the vehicle will pass through the intersection when entering the floor from the inter-floor passage; for another example, in addition to floor 350 and floor 360, there can be other floors, and the connecting passages between multiple floors can be as shown in the figure As shown in (e) in Figure 5, it can also be a combination of channels as shown in (a) to (d) in Figure 5, or other forms of channels.
  • FIG. 6 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.
  • the dotted line 414 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 drive into and stop at the parking space 404 .
  • the length and width of the parking space may be close to the length and width of the vehicle, so even if The vehicle has multiple cameras that can capture the surrounding environment. Due to the limitations of the installation location and/or shooting range of the cameras, as shown in Figure 6, the vehicle 410 that has stopped at the parking space 408 may not be able to capture images of the parking space 408.
  • 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 (such as "A-232”) etc.
  • the parking scene shown in Figure 4 can be combined with the parking scene shown in Figure 6.
  • Figure 6 can be a top-down view of part of the floor 350 shown in Figure 4.
  • the vehicle 402 in Figure 6 can
  • the parking space 404 in FIG. 6 may be the parking space 304 in FIG. 4 .
  • 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 7 is a horizontal parking space
  • (d) in Figure 7 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 parking space logo can also be located above the area included in the parking space, that is to say, it can be marked only in the three-dimensional space. logo. 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 can be used to indicate the direction of travel.
  • the vehicle 702 is a vehicle waiting to be parked or being parked.
  • the parking lot can include multiple areas for parking, such as areas 716 and 717 shown by dotted lines.
  • Area 716 can include parking spaces. 704.
  • Parking space 704 can be the parking space where the vehicle is finally parked (not shown in Figure 7), parking space 706 is its adjacent free parking space, and area 717 can also include multiple parking spaces.
  • the obstacles 719 and 720 may be pillars, which may include the identification of the parking area where the area 716 is located.
  • the obstacles 722 and 724 may also be pillars, which may include the identification of the parking area where the area 717 is located.
  • the areas 716 and 717 may belong to The same parking area, that is to say, the parking area indicated by the sign that belongs to the same parking area.
  • area 716 and area 717 both belong to the parking area "H area”
  • the columns 720 and 722 can include the sign "H area”.
  • This scene can include the inner wall of the parking lot (not shown in Figure 8), and the inner wall can also be marked with a parking area logo, such as The inner wall can be marked with parking area signs such as "Area A”.
  • the parking space in Figure 8 can be marked with a parking space number.
  • the number of parking space 704 can be "A106" (not shown in Figure 8).
  • the dotted line 730 can be the area entrance
  • the dotted line 732 can be the area exit
  • the entrance 730 can be connected to the road 752
  • the exit 732 can be connected to the road 762.
  • Figures 3, 4, 5, and 6 can be combined with Figure 8.
  • Figure 8 can be a top view of a part of the floor 350 shown in Figure 4, and the vehicle 702 in Figure 8 can be The vehicle 302 in Figure 4 and the parking spaces 704, 706, and 708 in Figure 8 may respectively correspond to the parking spaces 304, 306, and 308 in Figure 4, and may also correspond to the parking spaces 404, 406, and 408 in Figure 6.
  • Roads 752 and 762 may be part of the passages 505, 507, 509, etc. between floors shown in Figure 5, or may be part of the road where the parking lot entrance and exit are located as shown in Figure 3.
  • FIG. 9 is a schematic diagram of a column provided by an embodiment of the present application.
  • the column 810 can include a sign of the parking area.
  • the plane 811 includes a sign 815
  • the plane 813 includes a sign 817.
  • the sign 815 and/or the sign 817 can indicate the parking area, such as,
  • the pillar 850 may be the pillar 720 in FIG. 8
  • the logo 815 and/or the logo 817 may be the logo of the parking area where the area 716 is located.
  • (b) in Figure 9 shows a column 850
  • (c) in Figure 9 shows a column 860.
  • column 850 can be the column 722 or 724 in Figure 8
  • the logo of the column 855 And/or 857 may be the identification of the parking area where area 717 is located
  • column 860 may be any of the plurality of columns shown in Figure 4, Figure 6, or Figure 8.
  • 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.
  • the pillars may also have other markings.
  • the surface 811 of the column 850 can be installed with a safety exit indication device 819 , which can include a sign 821 for indicating the safe passage, and a sign 823 for the direction of travel; another example is
  • the column 860 may include a mark 879 for the floor, and the mark may be used to indicate the floor where the column is located.
  • the column can also be in other shapes, such as cylindrical shape.
  • FIG. 10 is a schematic diagram of a passage between floors provided by an embodiment of the present application.
  • the ground 882 can be the ground of the channel 880
  • the wall 884 can be a side wall on either side of the channel 880.
  • the side wall 884 of the channel can include a sign 886, a sign 888, etc., and the sign 886 can be used to indicate that the vehicle is about to The floor reached, the sign 888 can be used to indicate the direction of travel of the vehicle indicated by the passage. For example, when the vehicle travels in the direction indicated by the sign 888, after the vehicle exits the passage, the vehicle will arrive at the floor indicated by the sign 886.
  • the passage between floors may be a one-way passage or a two-way passage.
  • the side walls of the passage may include two indicated directions of travel and/or the corresponding floors to be reached according to the indicated directions. Combined with the direction of travel of the vehicle, the vehicle can be determined The floor to be reached.
  • Figures 3, 5, and 8 can be combined with the scenario shown in Figure 10.
  • channel 880 shown in Figure 10 can be channel 505, channel 507, etc. shown in Figure 5, or can also correspond to Figure 10.
  • Roads 752, 762, etc. are shown in 8.
  • vehicles can travel from floor 350 to floor 360, etc.
  • FIG. 11 is a schematic diagram of a system architecture for vehicle intelligent positioning provided by an embodiment of the present application.
  • the method may include some or all of the following steps.
  • the vehicle can obtain the GNSS signal from the global satellite navigation system, and the current position can be determined based on the GNSS signal.
  • the information may include longitude and latitude information, altitude information, etc., From this, the position of the vehicle can be determined.
  • the position of the vehicle can be determined through fusion processing in combination with the data collected by the IMU.
  • S1130 Determine the parking position positioning mode according to the signal quality of the GNSS signal.
  • one or more parameters may be used to evaluate the signal quality of the GNSS signal.
  • the signal strength may be used to characterize the signal quality of the GNSS signal, or the GNSS state may be used to characterize the signal quality of the signal, which is not limited in the embodiments of the present application.
  • the positioning mode may include a precise positioning mode or an inferential positioning mode.
  • the precise positioning mode may determine the parking location based on the GNSS signal, and the inferential positioning mode may determine the parking location based on the vehicle's status information and/or surrounding environment information, such as , at least one of parking floor information, parking area information, and parking spaces can be determined based on vehicle status information and/or surrounding environment information.
  • the precise positioning mode may also be called a first positioning mode, and the inferred positioning mode may also be called a second positioning mode.
  • the signal quality of the GNSS signal is better because the surrounding environment does not block the GNSS signal.
  • the signal quality of the GNSS signal can be greater than or equal to the first Threshold, whereby the parking position of the vehicle can be determined based on the GNSS signal.
  • the first threshold can be -130dBm, etc.; for another example, if the number of satellites above the current antenna field of view is not less than 5, the GNSS signal can be considered valid, The location of the vehicle can be determined based on the GNSS signal; for another example, when the signal quality of the GNSS signal is characterized by signal strength, for example, the signal strength of the GNSS signal is greater than or equal to -125dBm within a continuous duration (such as 5 seconds), you can The signal quality of the GNSS signal is considered to be greater than or equal to the first threshold. That is to say, the first threshold may also be a combination of the signal strength threshold and the duration.
  • the parking position positioning mode may be determined to be the first positioning mode; or, when the signal quality of the GNSS signal is less than or equal to the first threshold, the parking position may be determined
  • the positioning mode is the second positioning mode.
  • the GNSS signal can be updated at a certain frequency, and when the vehicle is parked, the parking position can be determined based on the GNSS signal. For example, taking the GNSS signal updating once per second as an example, when the vehicle is parking, for example, when receiving a GNSS signal, the vehicle is parking, and after the vehicle is in the parking position, the vehicle does not receive an updated GNSS signal. , the latitude and longitude information of the vehicle when it is in the parking position can be determined based on the latest GNSS signal, combined with the vehicle's speed and/or acceleration information.
  • the latitude and longitude information in the latest GNSS signal can be combined with the data collected by the IMU, Determine the longitude and latitude of the vehicle's location when it is in the parking attitude, so as to determine the parking position; for another example, when the update frequency of the GNSS signal is greater than or equal to the preset threshold, the longitude and latitude can be obtained from the GNSS signal during the parking process until the vehicle is in the parking attitude.
  • Information, since the vehicle can park at a lower speed, the latest GNSS signal obtained before the vehicle is in the parking position can also be used to indicate the parking position of the vehicle; for another example, in some scenarios, when the vehicle is driving The GNSS signal may be temporarily blocked, which may affect the update frequency of the acquired GNSS signal.
  • the parking position of the vehicle can be determined based on the latest GNSS signal obtained, thus ignoring the short-term use of the GNSS signal. Effects of occlusion.
  • a first message may be sent, and the first message may be used to indicate the parking location.
  • the first message may be used to indicate the parking position determined according to the GNSS signal, or, when working in the second positioning mode, the first message may be used to indicate the parking position.
  • the terminal device such as a mobile phone, etc.
  • the cloud server can obtain the first message, so as to know the parking location.
  • the first message may indicate the parking location determined according to the GNSS signal by indicating the first latitude and longitude information, and the first latitude and longitude information may be used to indicate the latitude and longitude of the parking location; for another example, the first message may also indicate the first latitude and longitude information by indicating the first latitude and longitude information of the parking location.
  • the latitude and longitude information and the first altitude information indicate the parking location determined based on the GNSS signal.
  • the first altitude information can be used to indicate the altitude of the parking location.
  • the first message can be obtained from the vehicle or through a network device or other devices, which is not limited in the embodiments of the present application.
  • the signal quality of the acquired GNSS signal is greater than or equal to the first threshold, and the vehicle can determine the vehicle stopping position through the first positioning mode, although positioning and/or positioning through the map can be facilitated according to the information in the GNSS signal.
  • Navigation but for the user, it may not be possible to intuitively know the location of the vehicle based on this information. Therefore, when the vehicle is parking, it detects During the parking operation (such as adjusting the vehicle gear to reverse gear, etc.), the image of the target parking space can be obtained, and the identification of the target parking space can be determined thereby. Furthermore, after the identification of the target parking space is determined, the target parking space indication information can be sent, accordingly. On the ground, the terminal device and/or the cloud server can obtain the target parking space indication information, so that the identification of the target parking space can be learned.
  • the latitude and longitude information used to indicate the parking position of the vehicle will be called the first latitude and longitude information.
  • the vehicle may not be positioned based on the poor quality GNSS signal, or there may be a large error in the vehicle positioning.
  • the parking position of the vehicle can be determined based on at least one of the parking floor information, parking area information and parking space when the vehicle is in a parking state.
  • the parking location can be indicated by the parking area and/or parking space where the vehicle is located; for another example, for a parking lot that includes multiple parking floors, the parking location can be indicated by the parking floor, parking area, The parking space indicates the parking location; for another example, in a parking lot that includes multiple parking floors and does not involve the division of parking areas, the parking location can be indicated by the parking floors and parking spaces; for another example, when the parking space is unmarked, The parking location can be indicated by parking floor and parking area.
  • a first message may be sent, where the first message may be used to indicate the first latitude and longitude information when working through the first positioning mode, or when operating through the second positioning mode.
  • the first message may be used to indicate at least one of the parking area, the target parking space, and the parking floor.
  • the parking position positioning mode can be flexibly determined according to different scenarios, which is conducive to realizing the demand for parking positioning solutions in different scenarios, thereby meeting the needs of GNSS when the parking position is located in an outdoor parking lot, etc.
  • the parking location can be determined with low resource consumption, and it can facilitate users to quickly find a car based on the map. It can also meet the needs of when the parking location is in indoor parking lots and other scenes with good GNSS signals, through instructions. Parking floors, parking areas, parking spaces, etc. can facilitate users to quickly find cars, thus improving the user experience.
  • the parking floor information when the vehicle is in the parking state can be determined based on the motion state parameters of the vehicle within the first period of time before the vehicle is in the parking state.
  • the following description will be made in conjunction with Figures 4 and 5 .
  • the vehicle can be determined based on the vehicle motion status information between the vehicle entering the parking lot and the parking position.
  • the vehicle can be determined based on the acceleration parameters and/or angular acceleration parameters obtained by the IMU. For example, after entering the parking lot, the vehicle travels from floor 503 to floor 501 through passage 505 as shown in Figure 5, and stops at parking space 304 as shown in Figure 4 on floor 501. According to the driving trajectory of the vehicle, The vehicle's climbing/descending height can be determined.
  • the reference floor of the parking lot entrance can be determined based on the GPS signal acquired before entering the parking lot. Based on the vehicle's climbing/descending height, the relative change value of the floor can be determined, so that the vehicle's location can be determined. floor.
  • the embodiment of the present application provides a method for determining the parking floor. By determining the parking floor through changes in the pitch angle of the vehicle, identification errors caused by different parking lot building structures can be avoided, and the determined parking floor can be improved. Floor accuracy.
  • FIG. 12 is a schematic flow chart of a method for determining a parking floor provided by an embodiment of the present application.
  • the method 1200 may include the following steps:
  • the pitch angle information of the vehicle can be obtained in real time before the vehicle stops.
  • data collected by sensors such as IMU can be obtained in real time, and real-time pitch angle data can be determined based on this data.
  • the method of obtaining the pitch angle information may refer to related technologies, and for the sake of simplicity, details will not be described here.
  • Figure 13 is a schematic diagram of vehicle pitch angle information provided by an embodiment of the present application.
  • Figure 13 will be described below in conjunction with Figures 3 to 10, where the dotted line may represent the pitch angle.
  • Changes over time For example, at time 0, the vehicle is outside the parking lot area. At time t0, it drives into the parking lot, such as through a barrier gate. At time t1, due to the obstruction of the GNSS signal by the building, the GNSS signal acquired by the vehicle is less than or equal to The first threshold, at time t2, the vehicle enters the channel as shown in Figure 10.
  • the channel can be channel 507. At time t3, the vehicle drives out of the channel and enters floor 360 through entrance 338.
  • the vehicle passes through exit 340. Drive out of floor 360 and enter the inter-floor passage. At time t5, the vehicle enters floor 350. At time t6, the vehicle is located Assume the location of vehicle 302. At this time, the user can activate the auxiliary parking or automatic parking function, or adjust the gear to reverse gear, and then drive the vehicle into the target parking space 304. The vehicle is in the parking position at t7, and the vehicle is in the parking position at t8. Between time t9 and t9, the pitch angle is greater than the angle threshold, or the absolute value of the pitch angle is greater than the angle threshold. It should be understood that the above description of FIG. 13 is only an example, and the embodiments of the present application do not limit this.
  • the pitch angle information of the vehicle within a first period of time may be obtained.
  • the pitch angle information of the vehicle can be obtained.
  • the starting time of the first duration can be the time t0 in Figure 13, so that the time t0 in Figure 13 can be obtained.
  • the starting moment of the first duration can be as shown in Figure 13 time t1, so that the pitch angle information after time t1 in Figure 13 can be obtained; for another example, when it is determined that the vehicle has entered the parking lot and the GNSS signal is less than or equal to the first threshold, the sensing sensor can be started and its information can be obtained.
  • the collected surrounding environment information can be used to obtain the vehicle's pitch angle information when it is determined that the vehicle will enter the inter-floor passage for the first time.
  • the starting time of the first duration can be the t2 time in Figure 13, and can be obtained as shown in Figure 13
  • the pitch angle information after time t2 in Figure 13; for another example, the pitch angle information of the vehicle before the time when the vehicle enters the target parking space can be obtained.
  • the end time of the first duration can be time t7 in Figure 13; and
  • the end time of the first duration may be time t6, time t5, etc. in FIG. 13 .
  • the moment when the vehicle first enters the inter-floor passage can be determined, and the moment when the vehicle last exits the inter-floor passage before being in the parking position can be determined, whereby the first time can be determined. duration.
  • the device executing the method needs to obtain pitch angle information from another device, the other device can provide the device with the pitch angle information of the vehicle within the period after determining the first period of time, thereby reducing communication between the two. amount of data.
  • S1220 Determine the parking floor based on the pitch angle information of the vehicle.
  • the number of inter-floor passages through which the vehicle passes can be determined. For example, as shown in Figure 13, according to the acquired pitch angle information of the vehicle, when the pitch angle of the vehicle is greater than or equal to the angle threshold (such as 15, 18 degrees, etc.), the vehicle can be considered to be located in the inter-floor passage. For example, It is determined that the vehicle is located in the inter-floor passage between t2 and t3, so that the number of inter-floor passages passed by the vehicle can be determined based on the vehicle's pitch angle information, so that the relative change value of the floor can be determined; for another example, the pitch angle is positive When , the vehicle can be considered to be going uphill.
  • the angle threshold such as 15, 18 degrees, etc.
  • the vehicle When the pitch angle is negative, the vehicle can be considered to be going downhill. For example, when the vehicle travels from floor 501 to floor 503 through passage 507 as shown in Figure 5, the pitch angle is negative and passes through the passage again from floor 503. When 507 travels to floor 501, the pitch angle is positive, and the entire process can be considered that the number of inter-floor passages passed by the vehicle is zero; for another example, when the pitch angle of the vehicle is greater than or equal to the angle threshold, and the duration is greater than or equal to When the time threshold is preset (such as 3s), the vehicle can be considered to have entered the inter-floor passage.
  • the time threshold is preset (such as 3s)
  • the vehicle can be considered to have not entered the inter-floor passage. Channels, thereby reducing interference from ground speed bumps and other devices and improving the accuracy of the determined floor.
  • the parking floor can be determined according to the number of inter-floor passages passed. For example, according to the number of inter-floor passages that the vehicle passes through, the relative changes of the floors can be determined. Furthermore, combined with the reference floor, the parking floor can be determined; for example, the floor where the vehicle is located before the vehicle enters the parking lot can be determined as the reference floor. , the reference floor can be determined based on the position information indicated in the GNSS signal, and the reference floor can be determined through other methods, so that the parking floor can be determined based on the relative changes of the floor. It should be understood that the method of determining the reference floor can refer to relevant technologies, etc.
  • the parking floor is determined based on the pitch angle information of the vehicle. Since the acquisition of the pitch angle information does not rely on radar sensors or camera sensors, it is applicable to low-configuration models and can also save the time of determining the parking location.
  • the resource consumption used in the process for radar sensors, camera sensors, etc., for electric vehicles, new energy vehicles, etc., can reduce the vehicle's power consumption and increase the vehicle's cruising range.
  • inter-floor passages there may be many forms of inter-floor passages.
  • the parking floor is determined only based on the vehicle pitch angle information.
  • the vehicle passes through the inter-floor passage as shown in (a) and (d) in Figure 5, and the vehicle passes through the inter-floor passage.
  • (e) in Figure 5 when the passage travels from floor 513 to floor 503, a large error may occur.
  • the embodiment of the present application provides another method for determining the parking floor.
  • the identity of the floor connected to the passage can be determined, so that the parking floor can be determined.
  • the parking floor can be determined. Avoiding parking floor identification errors caused by different channel types can also reduce the difficulty of screening parking floor signs and improve the accuracy of parking floor identification.
  • FIG. 14 is a schematic flow chart of another method for determining a parking floor provided by an embodiment of the present application.
  • the method may include the following steps:
  • the first passage may include an inter-floor passage through which vehicles pass.
  • the image of the channel can be obtained; for another example, the image of the channel can be obtained based on the pitch of the vehicle.
  • Vehicle motion status information such as angle information and vehicle longitudinal acceleration information can be used to determine that the vehicle has entered the inter-floor passage, so that the camera sensor can be started to collect images of the passage.
  • the side-view camera of the vehicle can be started and controlled to collect the inter-floor passage.
  • the image of the road surface of the passage between floors can be obtained through the front view camera, rear view camera, and panoramic imaging system.
  • the image of the inner wall of the passage located on the passenger side of the vehicle can be obtained through the passenger side camera sensor. .
  • S1420 Determine the channel guide mark based on the image of the first channel.
  • the channel may include a channel guide identification.
  • the passage guidance mark may be located on the inner wall of the passage, as shown in Figure 10.
  • the inner wall of the inter-floor passage may include a mark 886 and a mark 888, which can be identified through optical character recognition or other methods according to the image of the first channel.
  • the words of the sign are ">>>>” and "To the XXX floor"; for another example, the passage sign can also be located on the ground of the passage.
  • S1430 Determine the parking floor according to the channel guide mark.
  • the floor keyword can be determined, so that the parking floor identification can be determined.
  • the passage guide identification can be ">>>> leading to the underground floor >>>", “ ⁇ leading to B1 ⁇ ", "fire exit ⁇ ”, and the passage guidance identification includes floor keywords (such as "floor”, "B”, etc.), and the passage guidance mark matches the driving direction of the vehicle, the mark of the floor that the vehicle will drive into can be determined from this; for another example, in view of the small probability of the vehicle reversing in the passage between floors, based on the An image can determine the location of the channel guide mark. Combined with the floor keyword, the floor mark can be determined.
  • the channel guide mark on the inner wall of the channel on the passenger side of the vehicle can be determined.
  • the floor keyword in the logo can determine the logo of the floor that the vehicle will drive into; for another example, when the vehicle passes through multiple inter-floor passages before driving to the target parking space, the images of the multiple floors can be determined based on the images of the multiple passages.
  • the identification can be based on the time sequence in which the identifications of the multiple floors are obtained, or the identification of the parking floor can be determined based on changes in the pitch angle of the vehicle.
  • the identification of the parking floor is determined based on the passage guide identification of the inter-floor passage through which the vehicle passes, which can improve the accuracy of the determined parking floor.
  • the embodiment of the present application provides another method of determining the parking floor. By determining the number of first intersections that the vehicle passes through, the parking floor is determined, which can be applied to a wider range of scenarios and can improve the efficiency of the determined parking floor. Accuracy.
  • FIG. 15 is a schematic flow chart of another method for determining a parking floor provided by an embodiment of the present application.
  • the method may include the following steps:
  • S1510 Determine the first intersection through which the vehicle passes based on the surrounding environment information.
  • the first floor may be a floor connected to the inter-floor passage in the direction of vehicle travel when the vehicle travels on the inter-floor passage
  • the first intersection may refer to an intersection where the floor is connected to the passage. That is to say, the first intersection may be the exit of the inter-floor passage. In some possible implementations, the first intersection may also be the entrance to the inter-floor passage.
  • FIG. 16 is a schematic diagram of a connection scenario between an inter-floor passage and a floor provided by an embodiment of the present application.
  • (a) in Figure 16 shows a top view of a passage between floors and an intersection between floors. When a vehicle exits the passage, the intersection can be the intersection, and (b) in Figure 16 shows A top view of another intersection between the floor passage and the floor.
  • the intersection can be a T-intersection, or the passage can be located in other directions of the T-intersection, as shown in Figure 16 (
  • the inter-floor passages shown in a) and (b) may or may not have side walls;
  • (c) in Figure 16 shows an exit/ The front view of the entrance, the cross-section of the passage can be square,
  • (d) in Figure 16 shows the front view of another entrance/exit of the inter-floor passage, the cross-section of the passage can be arched, Figure 16
  • the solid line parts in (c) and (d) can also be understood as the shape of the outline of the inner wall of the inter-floor passage.
  • the first intersection can be determined based on the surrounding environment information collected by sensing sensors. For example, when a vehicle is driving in a passage between floors, the entrance and exit of the passage on one side of the vehicle's direction of travel can be determined based on data collected by radar sensors, camera sensors, etc., such as (c) and (d) in Figure 16 As shown, the first intersection can be determined; for another example, when a vehicle is driving in the passage between floors, the surrounding environment information can be obtained through the camera sensor, and the characteristics of the intersection are detected, such as (a) in Figure 16, As shown in (b), the first intersection can be determined; for another example, when the vehicle drives into the parking lot until it reaches the target parking space, it can detect multiple intersections that the vehicle passes through in real time, and record the vehicle passing through the intersection.
  • the intersection can be determined as an intersection related to the inter-floor passage. Taking the first intersection as the exit of the passage as an example, further, it can From the intersections related to the inter-floor passage, the intersections passed by the vehicle when entering the passage are filtered out, so that the first intersection can be determined.
  • the angle threshold For example, 15 degrees, etc.
  • the parking floor can be determined based on the first intersection passed by the vehicle.
  • the relative change of the floor can be determined.
  • the first intersection that the vehicle passes through after going uphill can be defined as the first intersection that the vehicle passes through in the forward direction
  • the first intersection that the vehicle passes through after going downhill can be defined as the first intersection that the vehicle passes through in the negative direction, or it can also be Other definition methods, so that the first intersection passed by within the first period of time can be determined and the relative changes of floors can be determined; for another example, based on the identified first intersection, the time information of the vehicle passing the first intersection can be determined, for example, according to The pitch angle information of the vehicle can also determine the moment when the vehicle passes through the entrance and exit of the passage, and the two can be matched to determine the relative change of the floor.
  • the second sensor when it is determined that the vehicle is located in the inter-floor passage, the second sensor can be activated, and the second sensor can be controlled to collect surrounding environment information.
  • the surrounding environment information can be used to determine the first intersection. For example, based on the vehicle's pitch angle information, vehicle longitudinal acceleration and other vehicle motion status information, it can be determined that the vehicle is located in the inter-floor passage.
  • the camera sensor and/or radar sensor can be activated.
  • the vehicle can be activated for Camera sensors and/or radar sensors that collect environmental information on one side of the vehicle's direction of travel, and control one or more sensors to collect surrounding environmental information, so that the first intersection can be determined, thereby reducing the perception of camera sensors, radar sensors, etc. Resource consumption of class sensors.
  • a parking floor indication message may be sent, and the parking floor indication message may be used to indicate the parking floor.
  • the parking floor indication message may be sent, and the parking floor indication message may be used to indicate the parking floor.
  • the parking floor indication message is sent.
  • 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 network equipment, or it can be sent to the server through the network.
  • the server sends the message to the terminal device that is logged in/associated with the same account as the vehicle, so that the user can learn about the parking floor through terminal devices such as mobile phones, thereby eliminating the need for users to take photos of the parking floor through terminal devices such as mobile phones and tablets.
  • the parking floor can also be known, thereby improving the user's experience; for another example, after receiving the parking floor indication message, the user can respond to the information.
  • the parking floor can be Floor information is stored in terminal devices such as mobile phones or corresponding servers. It should be understood that the above description of the parking floor indication message is only an example, and the embodiment of the present application does not limit this.
  • the impact of the architectural structure of the indoor parking lot on the identification of parking floors can be reduced. It can be applied to a wider range of scenarios and can improve the determined parking floors. Accuracy of parking floors.
  • 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. 17 is an exemplary flow chart of a method for determining that a vehicle has entered a parking lot provided by an embodiment of the present application.
  • Method 1700 may include 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 may determine its own position and may not be combined with map information to determine whether the vehicle will drive into the parking lot.
  • the radar and camera can be started based on the signal strength of the GNSS signal, for example, when the signal strength of the GNSS signal is less than or equal to -90Bm. Sensors such as these collect data from the surrounding environment to confirm the scene in which the vehicle is located, thereby avoiding the need to turn on sensors such as radars and cameras in the vehicle at all times, thus saving the cost of sensors; for another example, when the number of satellites above the vehicle antenna field of view When it is greater than or equal to a certain threshold (such as 5), the GNSS satellite can provide effective signals to the vehicle. Due to the obstruction of the GNSS signal, the number of satellites above the current antenna may be less than the threshold. Therefore, according to the current vision, it can be based on the current field of vision. The number of satellites above activates sensors such as radar and cameras 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 information based on the first state parameter is only an example for ease of explanation, and is not limited in the implementation of this application.
  • the preset condition may correspond to the first state parameter.
  • the preset threshold may include a threshold related to the signal strength of the GNSS signal.
  • the signal strength of the GNSS signal needs to be greater than or equal to the signal strength threshold (such as -124dBm wait).
  • 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 information can include data collected by radar sensors, and/or , images collected by the camera.
  • the perception sensor can include a radar, such as a lidar. When the signal quality of the vehicle's GNSS signal meets the preset conditions, 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 equal to the predetermined
  • 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 meets the preset conditions, if the sensing sensor is turned on status, 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.) to detect parking lot markers. .
  • the above regarding sensing The description of the device is only an example for convenience of explanation, and the embodiment of the present application does not limit this.
  • the sensing sensor when the first state parameter meets a preset condition, 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 information, 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 meets the preset conditions, the vehicle can control its own perception sensor to turn on, such as turning on the front-view camera shown in Figure 2, etc., to obtain the information collected by the perception 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 information to detect whether there are Parking lot sign. It should be understood that the embodiment of the present application does 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.
  • one or more sensing sensors can be started, the sensors can be controlled to collect surrounding environment information, and markers in the parking area can be detected based on the surrounding environment information.
  • the sensor can be turned off.
  • one or more sensors in the perception system can be turned on to obtain surrounding environment information, such as The surrounding environment information 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 activation of the automatic parking system can be triggered to realize the automatic parking function, so that the triggering of related functions and the jump of the scene mode can be realized without the user's instructions, thus improving the user experience.
  • the vehicle location inference function can be started, such as inferring the real-time location of the vehicle; for another example, simultaneous localization and mapping (SLAM) can be triggered, so that a map of the parking lot can be created, and the created map can be stored with
  • SLAM simultaneous localization and mapping
  • the user can realize automatic parking by calling the map in the database when parking in the parking lot.
  • the user can also remotely control the vehicle based on the map, such as by recording the vehicle's driving trajectory and the The map allows users to remotely control vehicles outside the parking lot to drive nearby, thus avoiding the user's process of finding a car and improving the user experience.
  • 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 information is obtained, which can reduce the dependence on the sensor to collect the surrounding environment information, can reduce the working time of the sensor, thereby reducing the power consumption of the sensor, and through the parking lot Marker detection can determine whether a vehicle is located in a parking area, helping 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. 18 is an exemplary flow chart of a method for activating a sensor provided by an embodiment of the present application.
  • the method 1800 may 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 according to the user's manipulation.
  • the steering wheel angle can be obtained.
  • the brake pedal stroke can be obtained.
  • 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.
  • S1820 Detect the parking voice command based on the voice command.
  • start one or more sensing sensors or detect the first operation based on 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 a 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 physical buttons of the "Automatic Parking” function can determine the presence of parking intentions; for another 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.
  • the vehicle can obtain the instruction, and the user's intention to park can be determined through the instruction; for another example, the user can indicate the desired parking space on an interactive device such as a central control screen, and the user's intention to park 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 controlled to collect surrounding environment data.
  • the sensor can be a camera, radar, or other sensor.
  • the surrounding environment information 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 information, for example, it may be Send a message to other control devices (such as sensor control devices) or sensors.
  • the message can be used to instruct the sensor to be started. After the sensor is turned on, the surrounding environment information can be collected.
  • 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 starting, 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. of different types of sensors.
  • 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.
  • the environmental information of the vehicle during parking can be confirmed.
  • vehicles, vehicle systems, processors or chips can determine 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 automatic parking assist (automated parking assist, APA).
  • the system can obtain the data collected by the sensor.
  • the cockpit domain controller can obtain the data collected by the sensor from the automatic parking assistance system.
  • the APA system can process the data collected by the sensor, accordingly, The cockpit domain 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 information collected by the sensor is obtained, which can save the cost of processing the surrounding environment information. 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. 19 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 1900 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 vehicle 402 can be used during the parking process.
  • 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 6, when the vehicle 402 drives into the parking space 404 from the current location, the camera captures the image at a certain moment in the middle.
  • the collected images may not be able to identify information related to the parking space, such as,
  • the image of the parking space number collected by the camera may be the word "A107" shown in the logo 412 in Figure 6, or may be the part of the word “A106” shown in the logo 405 in Figure 6 (such as the words "106", "A10", etc.), etc., among which, although the word “A107” 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 parking space where the vehicle 402 is parked. location. To some extent, this information can also be used to indicate the parking space of the vehicle.
  • the user can learn the area where his or her vehicle is located based on the parking space inquiry system of the parking lot. This information may not cause any harm to the user. It is too misleading, but for words that only include part of the word "A106" (such as "106"), the word may not indicate the parking space of the vehicle.
  • it can Determine the number of the target parking space. For example, the words "A10" and “106” are the words of the parking space number in two consecutive images taken by the camera. They can be identified through the continuous optical character recognition (optical character recognition, OCR) fusion recognition method. The number of the target parking space is "A106".
  • the first duration can be any duration, and the embodiments of the present application do not limit this; for another example, when the vehicle has the function of a transparent chassis, the acquisition of the image of the target parking space may not be limited to the location of the vehicle , which can facilitate the acquisition of images of the target parking space. Through the function of the transparent chassis, the vehicle chassis can be seen through. For example, during the driving process of the vehicle, based on the data collected by the panoramic imaging system, image stitching, etc. Method to realize the perspective of vehicle chassis.
  • 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 the area where the target parking space is located.
  • 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 move from the current location to the free parking space.
  • 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 according to the surrounding obstacles, etc., so that the parking space indication information can be obtained; for another example, according to the parking space indication information.
  • the sensor overhead required in the process of identifying the image for another example, when using automatic parking, auxiliary parking and other functions, you can also combine the parking space indication information and use the image collected when identifying the parking space.
  • the above description of the parking space indication information is only an example for ease of explanation, and is not limited in this embodiment of the present application.
  • FIG. 20 is a schematic diagram of an image of a parking space provided by an embodiment of the present application.
  • (a) in Figure 20 can be an image collected by the vehicle-mounted camera when the vehicle 402 in Figure 6 is driving into the parking space 404.
  • This image can be displayed on the vehicle-mounted display (such as a central control screen, etc.).
  • the display interface may also include a mark 2051, 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 20 may be based on (a) in Figure 20 ) is a schematic diagram of an free parking space determined by the image, in which area 2053 may represent a part of the parking space 406, and area 2055 may 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 20 can be determined. 2053 and area 2055 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.
  • S1920 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, such as identification 404 in Figure 6
  • the display word "A106" 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 overhead in data processing can be to process the data collected by the sensor.
  • 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, so that the size can be smaller.
  • Image processing of images is helpful to save the cost of data processing; for another example, when multiple images can be obtained, the text parts in the multiple images can be extracted and matched accordingly to determine the parking space.
  • the identification can improve the accuracy of the identified 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 times may include multiple texts (such as "A106", "A107", etc.) , based on the preset coordinate system, the coordinates of the multiple texts at the multiple moments can be determined, so that the trajectories corresponding to the multiple texts can be determined.
  • the text can be determined. Confidence.
  • the trajectory corresponding to the text "A106” can match the driving trajectory of the vehicle 402, but the trajectory corresponding to the text “A107” has a poor matching degree with the driving trajectory of the vehicle 402. From this, it can be determined that the text "A106” " has a higher confidence level than the text "A107", so the text "A106” can be 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 and semantics of the text.
  • the vehicle-mounted display can be controlled to display an image of the target parking space, where the vehicle-mounted display 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.
  • a logo can be added to the interface to highlight the target parking space, such as (a) in Figure 20 ;
  • Figure 21 is a schematic diagram of an interactive interface provided by an embodiment of the present application. After determining the identity of the target parking space, the chip, vehicle machine and other devices that execute the method can send a username 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 displays as shown in Figure 21. The user can also give feedback on the prompt, for example, close the message reminder (not shown in Figure 21), click "Yes" control etc. It should be understood that the above method of displaying the target parking space is just an example for the purpose of For illustration, the embodiments of the present application do not limit this.
  • a target parking space indication message may be sent, and the target parking space indication 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 target parking space indication message is sent.
  • 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 network equipment, or it can be sent to the server through the network.
  • the server sends the message 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 target parking space indication message, a terminal device such as a mobile phone can display the information as shown in Figure 21, and the user can respond to the information. For example, when the user responds in the affirmative, the identification of the target parking space can be saved in the mobile phone or the corresponding server.
  • the mobile phone or other terminal device can obtain the image of the target parking space through the image of the target parking space.
  • the image prompts the user for the target parking space.
  • 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 Knowing the location of the vehicle makes it easier for the user to find the vehicle.
  • 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. 22 is a schematic flow chart of 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 information 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 information can be used to detect markers in the parking area.
  • the surrounding environment information 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. For example, the During the parking process, multiple cameras are turned on to collect images of the landmark from multiple angles, so that more details of the landmark can be obtained based on multiple images.
  • the camera sensor corresponding to the area where the marker is located can be turned on, thereby reducing 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 image can be implemented based on the image.
  • the part of the image containing the marker can be processed, such as cropping the column area in the image to obtain the image of the column, or the camera can be controlled
  • other camera sensors can collect the image of the marker.
  • the image of the marker can be collected again.
  • the vehicle-mounted display 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, and further, the image of the marker can be displayed in the interface displayed on the display. Highlight the landmark through wireframe and other methods.
  • S2230 Determine the parking area based on the image of the landmark.
  • different parking areas may be distinguished using different signs.
  • 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 a combination of letters, 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 may be the common letters, numbers, etc. included in the identification of the target parking space and the identification of the parking area, and this is not limited in the embodiment of the present application.
  • 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 identification 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 may be determined based on the image of the landmark, and for convenience of explanation and explanation, the text may be called area information text.
  • the marker can be as shown in (a) in Figure 9.
  • multiple texts such as "Area A”, “Safe Passage”, and " ⁇ ” can be obtained.
  • 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 area information text is only an example, and the embodiment of the present application does not limit this.
  • the parking area identification may be determined based on the confidence of the one or more area information texts.
  • the confidence level of the regional information text may 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 regional 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. For example, due to limitations of the camera shooting angle and other factors, 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. , for example, through fusion recognition algorithms, etc., the parking area identification can be obtained, thereby improving the accuracy of determining the parking area. It should be understood that the above description of determining the parking area identification is only an example, and the embodiments of the present application do not limit this.
  • a parking area indication message may be sent, and the parking area indication message may be used to indicate the parking area.
  • a parking area indication message can be sent when the user adjusts the gear to parking, pulls the handbrake, confirms the parking area through the interactive interface, leaves the vehicle or turns off the vehicle, etc., by sending
  • the parking area indication message can prompt the parking area to the user through network equipment or other devices, so that terminal devices such as mobile phones can learn about the parking area and realize reminders to users, so that users do not need to use terminal devices such as mobile phones to know the parking area.
  • the parking area can also be known, which can improve the user experience; for another example, after determining the parking area, the vehicle can send a message to the cloud server through the vehicle terminal (telematics box, T-BOX) to indicate the parking area. , so that terminal devices such as mobile phones can learn the parking area from the cloud server, and the vehicle can also send messages to terminal devices such as mobile phones associated with the vehicle through Wi-Fi, Bluetooth, etc., so that the terminal device can learn the parking area;
  • Figure 23 is a schematic diagram of another interactive interface provided by an embodiment of the present application.
  • a terminal device such as a mobile phone can display the interface shown in Figure 23 on its interface, and the user can also The message can be fed back, for example, by clicking on the negative response control 2305, clicking on the positive response control 2303, etc.
  • 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., so that the user can be prompted in the form of images. It should be understood that the above description of the parking area indication message is only an example, and the embodiment of the present application does not limit this.
  • the vehicle-mounted display can be controlled to display the identification of the parking area.
  • the interface as shown in Figure 23 can be displayed on the vehicle's central control screen, and user feedback can also be accepted through interactive devices.
  • 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 the central control screen or other vehicle-mounted display, and the image can include the identification of the landmark.
  • it can be displayed as shown in Figure 9 ( An image of a partial area of marker 810 in a), which area includes logo 815.
  • 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. 24 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 at least one of a target parking space, a parking area, a parking floor, and a first location.
  • the first location may include the parking location determined according to the GNSS signal.
  • terminal devices such as mobile phones can obtain vehicle location information, also known as target parking space indication messages, from vehicles or network equipment.
  • vehicle location information used to indicate the parking area is also called the parking area indication message; for another example, terminal devices such as mobile phones can obtain the vehicle location information only used to indicate the parking floor from the vehicle or network equipment, or it is called the parking floor indication message.
  • the obtained vehicle position information can be used to indicate not only the target parking space, the parking area, but also the parking floor, that is, the target parking space indication message, the parking area indication message, the parking floor instruct
  • the messages can be the same message; 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 learn the area where the vehicle is located; for another example, the vehicle location information can be the first message; For another example, the vehicle location information may indicate the first location by indicating the first latitude and longitude information, the first altitude information, or the like. 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, Wi-Fi, etc.; for another example, the mobile phone can be logged in or associated with the vehicle. Terminal devices of the same account. 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.
  • a first interface which may be used to indicate at least one of a parking area, a target parking space, and a parking floor, or the first interface may indicate a first location.
  • a first interface may be displayed on a display associated with the terminal device, and the first interface may be used to indicate at least one of a parking area, a target parking space, and a parking floor. .
  • the first interface may indicate the location indicated by the first latitude and longitude information in the form of text or a map.
  • the parking area may be indicated by a parking area identification
  • the target parking space may be indicated by an identification of the target parking space
  • the parking floor may be indicated by an identification of the parking floor.
  • FIG. 25 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 25
  • area 2504 in the interface may include the parking area identification "Area”, the identification of the target parking space "236", and the parking floor identification "basement level”.
  • the interface may also include the vehicle The location information of the parking lot, for example, the address of the parking lot is displayed in area 2502 of the interface.
  • the interface may also include other controls, such as control 2506. By clicking on the control, the user can obtain the parking area and/or target parking space. Other related information, such as when the mobile phone detects that the user clicks on control 2506, displays the interface shown in (b) in Figure 25.
  • an image 2510 of the parking area marker can be displayed in the interface.
  • the image The marker 2511 in 2510 may be the pillar in (a) in Figure 9 , that is to say, the image may display at least part of the marker of the parking area, such as the area used to indicate the sign of the parking area, etc., and also An image 2514 of the target parking space may be displayed in the interface.
  • the parking space 2515 in the image 2514 may be the parking space 704 in FIG. 8 . That is to say, the image may display at least part of the target parking space, such as for indicating the target parking space.
  • the interface may also include other controls, such as control 2508. When the mobile phone detects that the user clicks on control 2508, the interface as shown in (a) in Figure 25 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 2516, and can also display the image of the target parking space and the image of the parking area marker, such as Image 2517 and Image 2518.
  • this interface can display the first longitude and latitude information 2521.
  • the interface may also include a map 2525 of the parking lot area, in which the range shown by the dotted line is the area of the parking lot, so that the parking location 2523 indicated by the first longitude and latitude can be indicated in the map.
  • the vehicle is located in the parking lot. Near the south gate, it is convenient for users to choose the best car-finding route through the map.
  • navigation routes (not shown in Figure 25) can be recommended based on the user's real-time location, thereby further improving the user experience.
  • the vehicle may sound a whistle, turn on a light, etc. to remind the user of its location.
  • FIG. 26 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 26.
  • the electronic device responds to the user's left swipe operation and displays a display as shown in (b) in Figure 26 negative one screen.
  • the electronic device can display the service number 2540 through the negative one-screen interface.
  • the service number 2540 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 2540 may also display the type or name of the parked vehicle, such as "XX vehicle is parked.”
  • 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 image 2544 containing the parking space number through the service card 2542 as shown in (c) of FIG. 26 . 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 26).
  • the desktop of the mobile phone shown in (a) in Figure 26 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 26 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 2540, 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 27 .
  • the main desktop page of the car owner APP may include a location information box 2550.
  • the location information box 2550 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 intelligent 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 27.
  • the navigation information box 2552 may be displayed in the intelligent car-finding interface.
  • the navigation information box 2552 contains the time information 2556 required for the electronic device to navigate to the location of the vehicle; the intelligent car search interface can also display the vehicle parking location image box 2554, as well as a map containing the geographical location where the vehicle is parked and where the vehicle is. Location 2555 on the map.
  • the electronic device in response to the user's operation of clicking the location information box 2550, when the electronic device displays the smart car search interface, it may also display "Smart car search is enabled” as shown in 2558 in (b) of Figure 27 The car-seeking animation.
  • 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.
  • the terminal device after obtaining the vehicle location information, displays content related to the vehicle's parking location on the first interface, so that the user can know the vehicle's parking location, facilitate the user to find the vehicle, and improve the user experience.
  • FIG. 28 may be an exemplary flowchart of a method for identifying a parking area provided by an embodiment of the present application.
  • the method 2600 may include some or all of the following steps.
  • the surrounding environment information can be used to detect markers in the parking area.
  • the surrounding environment information may be data collected by one or more sensors.
  • the surrounding environment information 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 S2210 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 S1910 and so on.
  • obtaining the surrounding environment information can be performed at the same time as obtaining the first parking space image. That is to say, step S2620 and some or all of steps S2605 to S2610 can be performed at the same time, or step S2620 can be performed first, and then Can be executed first Some or all of steps S2605 to S2610 are not limited in this embodiment of the present application.
  • S2625 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”, it can be considered that the regional keyword is "H”; for another example, the identification of the target parking space, such as "C0237”, has multiple regional information texts (for example, regional information texts "C17", “D17”, " C18"), the identification of the target parking space can be matched with the area 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.
  • S2630 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, reference can be made to step S2230 and so on.
  • 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.
  • S2635 send a parking area indication message, which can be used to indicate the parking area.
  • the parking area indication 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 parking area may be indicated by sending an image of a landmark in the parking area. .
  • the terminal device can obtain the parking area indication message, and can display the first interface according to the parking area indication message, so that the user can learn the parking area where the vehicle is located based on the interface.
  • S2640 send a target parking space indication message, and the target parking space indication message may be used to indicate the target parking space.
  • the target parking space indication message may indicate the target parking space by a sign indicating the target parking space, or may indicate the target parking space by indicating an image of the target parking space.
  • the terminal device can obtain the target parking space indication message, and can display the first interface according to the target parking space indication message, so that the user can learn the parking space where the vehicle is located based on the interface.
  • step S2635 may be performed first, step S2640 may be performed first, or steps S2635 and S2640 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 information 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 regional keywords and images of landmarks in the parking area, which can improve the determination of the parking area.
  • the target parking space can be indicated by sending a target parking space indication message
  • the parking area can be indicated by sending a parking area indication message, which allows the user to know the parking area where the vehicle is located without taking pictures of the parking area and/or the target area. and/or target areas to improve the user experience.
  • Figure 29 is a schematic flowchart of a method for determining a parking location provided by an embodiment of the present application.
  • the method 2700 may include some or all of the following steps:
  • S2710 When the vehicle enters the parking lot, obtain the vehicle's motion status information and/or surrounding environment information during the movement of the vehicle.
  • the vehicle may pass through one or more parking spaces. parking floors, and/or, one or more parking zones.
  • the vehicle's motion status information and/or surrounding environment information can be obtained to determine where the vehicle is in the parking lot. Area.
  • the vehicle's motion status information may include the vehicle's posture information, such as the vehicle's pitch angle information, the vehicle's position information, etc.
  • the vehicle's position information may be determined based on global satellite navigation system signals. the location of the vehicle, etc.
  • S2730 Determine the area where the vehicle is located in the parking lot based on the vehicle's motion status information and/or surrounding environment information.
  • the vehicle enters the parking lot until it completes parking.
  • the vehicle's motion status information and/or surrounding environment information can be obtained based on the location of the vehicle.
  • vehicle attitude changes can be obtained through vehicle-mounted sensors, such as the vehicle's pitch angle, vehicle position changes, etc., and then the relative change of the floor where the vehicle is located can be determined based on the vehicle's pitch angle change (for example, based on the vehicle's pitch angle, Determine the number of inter-floor passages that the vehicle passes through uphill and downhill, determine the relative change of the floor where the vehicle is located, and determine the current floor location of the vehicle; for another example, the pitch angle of the vehicle can be combined with the driving path of the vehicle , the climbing height of the vehicle, determine the relative change of the floor, to determine the floor location where the vehicle is currently located, etc.).
  • the floor where the vehicle is located can be determined based on the identification information of the inter-floor passages that the vehicle passes through (for example, The vehicle can obtain the image information of the surroundings while the vehicle is driving through the image sensor. For example, the vehicle can obtain the image information of the passage between floors that the vehicle passes through. By identifying the floor signs hung or posted in the passage, the floor that the vehicle will drive to can be determined.
  • the information of the floor can be displayed on the vehicle's central control screen and other interactive devices (for example, "You are currently on the second floor underground", etc.).
  • the vehicle After the vehicle enters the parking space, the information of the latest recognized floor can be displayed.
  • the vehicle determined as the floor where the parking location is located; for another example, during the process from the vehicle entering the parking lot to completing the parking, the vehicle can pass through multiple parking areas. When the vehicle passes through the parking area, the vehicle can be displayed on the central control screen and other interactive devices.
  • the latest recognized zone information can be determined as the parking location.
  • the parking zone where the vehicle is located can also be obtained when the vehicle enters the parking space and it is determined that the vehicle will drive into the parking space. For example, in the parking space where the vehicle is parked (which can also be called a parking space) )
  • the parking location of the vehicle can be determined based on the vehicle's parking floor and parking zone information.
  • the information displayed by the above interactive device can also be voice broadcast by the vehicle speakers. For the sake of brevity, no examples will be given here.
  • the method may also include: acquiring a GNSS signal; and determining the parking position positioning mode according to the signal quality of the GNSS signal.
  • the method of determining the signal quality of the GNSS signal may refer to step S1120 and so on.
  • the parking position positioning mode may include a first positioning mode or a second positioning mode, wherein when working through the first positioning mode, the parking position of the vehicle may be determined according to the GNSS signal; when the parking positioning mode is determined to be the third positioning mode, In the second positioning mode, the area where the vehicle is located in the parking lot can be determined based on the vehicle's motion status and/or surrounding environment information.
  • the area where the vehicle is located in the parking lot can be determined based on the latitude and longitude information included in the GNSS signal; when it is determined that the parking positioning mode is the second positioning mode, the area of the vehicle can be determined based on the latitude and longitude information included in the GNSS signal. Based on the motion status and/or surrounding environment information, at least one of the vehicle's parking floor, parking zone, and first parking space can be determined.
  • the parking position positioning mode is the second positioning mode
  • determining the area where the vehicle is located in the parking lot based on the vehicle's motion state and/or surrounding environment information may include: determining the vehicle's location in the parking lot based on the surrounding environment information.
  • the first intersection that the vehicle passes through can include the floors connected to the inter-floor passage and the intersections between the inter-floor passages; according to the first intersection that the vehicle passes through, the parking lot where the vehicle is located can be determined
  • the parking floor is the floor where the vehicle is in the parking position.
  • the first intersection may include floors connected to the inter-floor passage and intersections between the inter-floor passages. That is to say, the first intersection may be the entrance and exit of the inter-floor passage.
  • the description about the first intersection may refer to step S1510 and so on.
  • method 1500 For example, regarding the method of determining the parking floor based on the first intersection through which the vehicle passes, reference may be made to method 1500 and the like.
  • the surrounding environment information may include an image of a first channel, which may be an inter-floor channel through which the vehicle passes. According to the vehicle's motion state and/or the surrounding environment information, it is determined that the vehicle is parking.
  • the area within the venue may include: determining the channel guide mark based on the image of the first channel; determining the parking floor based on the channel guide mark.
  • the description of the first channel and the channel guide identifier may refer to the method 1400 and so on.
  • the image of the first channel may be one or more images collected by one or more camera sensors.
  • the image of the first channel may also be images collected by multiple camera sensors, which are spliced together. What is obtained by image processing may also be image information of the first channel at multiple moments.
  • the method may also include: when it is determined that the vehicle is located in the inter-floor passage, starting a second sensor; and controlling the second sensor to collect surrounding environment information.
  • whether the vehicle is located in the inter-floor passage can be determined based on the vehicle's pitch angle, data obtained by the ramp sensor, etc.
  • one or more sensing sensors can be activated to collect surrounding environment information, thereby It can reduce the resource consumption of sensors such as radars and cameras, and for electric vehicles, it can increase the cruising range of the vehicle.
  • the vehicle's motion state information may include the vehicle's pitch angle information within the first period of time.
  • determining the area where the vehicle is located in the parking lot may include : Determine the number of inter-floor passages that the vehicle passes through based on the pitch angle information of the vehicle within the first period of time; determine the parking floor based on the number of inter-floor passages that the vehicle passes through.
  • the description about the first duration may refer to step S1210 and so on.
  • the description about determining the parking floor may refer to methods 1200, 1400, 1500, etc.
  • determining the area where the vehicle is in the parking lot based on the vehicle's motion state and/or surrounding environment information may include: detecting markers in the parking area based on the surrounding environment information; based on images of the markers , determine the parking zone.
  • the parking zone may refer to the parking areas of parking lots such as "Area A”, “H-17", “B-17”, “H-10-2", “xx Zone”, etc.
  • the parking zones of the parking zone Markers can be parking lot pillars, parking lot interior walls, signs, hanging or posted signs, etc.
  • markers of parking zones and methods of determining parking zones may refer to method 2200 and the like.
  • the surrounding environment information includes a first parking space image
  • the first parking space image includes a first parking space.
  • the area where the vehicle is located in the parking lot can be determined. It includes: determining the identity of the first parking space based on the image of the first parking space.
  • the identification of the target parking space includes a regional keyword
  • the method may further include: determining the parking area based on the image of the landmark and the regional keyword.
  • descriptions about area keywords and the like may refer to method 2200 and the like.
  • the method may further include: obtaining a first instruction, the first instruction being used to indicate that the user of the vehicle has an intention to park; according to the first instruction, obtaining the motion status information and/or of the vehicle. or the surrounding environment information.
  • 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 can be the parking voice instruction in method 1800; for another example, it can also be combined with the user's instructions for the parking space (for example, after detecting the parking space indicated by the user through physical, virtual buttons, or gesture instructions, the user can parking space indicated by the voice command), obtain the motion status information of the vehicle and/or the surrounding environment information, for example, obtain image information of surrounding free parking spaces, etc.
  • obtaining the motion status information and/or the surrounding environment information of the vehicle according to the first instruction may include, according to the first instruction, controlling the camera and the radar sensor to adjust the posture and obtain the surrounding environment data.
  • the camera and radar sensor can have or be installed on an movable bracket.
  • the bracket can be controlled to adjust the attitude of the sensor to obtain surrounding environment data, thereby reducing the risk of vehicle damage. The impact of posture on obtaining surrounding environment data, etc.
  • obtaining the motion state information and/or the surrounding environment information of the vehicle may include: acquiring the motion state information and/or the surrounding environment information of the vehicle when it is detected that the vehicle enters the parking state.
  • obtaining the motion state information and/or the surrounding environment information of the vehicle may include, when it is detected that the vehicle enters the parking state, controlling the camera and the radar sensor to adjust the attitude, and obtain Surrounding environment information.
  • obtaining the motion state information and/or the surrounding environment information of the vehicle may include, when it is detected that the vehicle enters the parking state, controlling the activation of the first sensor, and controlling the first sensor.
  • a sensor collects surrounding environment information. For example, when detecting the user's first operation, it may be considered that the vehicle enters the parking state. For a description of the first operation, reference may be made to method 1800 and so on.
  • the method may further include: sending a first message, the first message being used to indicate at least one of the parking area, the first parking space, and the parking floor.
  • the method may further include: sending a first message, which may be used to indicate at least one of the parking area, the target parking space, and the parking floor.
  • a first message which may be used to indicate at least one of the parking area, the target parking space, and the parking floor.
  • terminal devices such as mobile phones and electronic devices such as cloud servers can receive the first message.
  • the first message may be sent.
  • the first message when working through the first positioning mode, can be used to indicate the parking position determined according to the GNSS signal; for another example, when working through the second positioning mode, the first message can be used to indicate At least one of the parking area, the target parking space, and the parking floor; for another example, the first message may indicate the parking location determined according to the GNSS signal by indicating the first latitude and longitude information, the first altitude information, or the like.
  • the first message may be an encrypted message.
  • the message indicating the parking location may be encrypted according to the first key.
  • a terminal device such as a mobile phone is associated with a vehicle, such as by connecting through Bluetooth or other methods, or when the mobile phone and the vehicle are logged into the same user account
  • the terminal device and/or cloud server and the vehicle can be exchanged, for example, through asymmetric encryption. Private key, etc., so that the terminal device/cloud server can decrypt the first message.
  • sending the first message may include: sending the first message when no user is detected in the vehicle's cockpit. For example, it can be determined whether there is a user in the cockpit based on information collected by seat pressure sensors, camera sensors in the cockpit, and other vehicle-mounted sensors.
  • the first message when no user is detected in the vehicle cabin, the first message is sent, which can reduce the frequency of sending the first message and reduce the traffic consumption of the vehicle.
  • the first message may be sent after it is determined that the vehicle has completed parking.
  • a terminal device such as a mobile phone can send parking location request information, and accordingly, the vehicle can receive the parking location request information, and further, the first message can be sent according to the parking location request information.
  • the parking location request information may include the identity information of the requester, whereby the authority of the requester can be determined based on the identity information of the requester, and the first message can be determined based on the authority of the requester, such as, When it is determined that the requester is an unauthorized user, the first message may not be sent.
  • the first message may include the image and logo of the parking space, the image and logo of the parking area, Parking floor information, etc.
  • the first message can be determined based on the permissions of the requester, or for example, the first message can be determined based on the request content of the requester; and
  • the first message may include images and logos of parking spaces, images and logos of parking zones, parking floor information, etc.
  • determining the parking position positioning mode according to the signal quality of the GNSS signal may include: determining the parking position positioning mode as the first positioning mode when the signal quality of the GNSS signal is greater than or equal to the first threshold; or , when the signal quality of the GNSS signal is less than or equal to the first threshold, the parking position positioning mode is determined to be the second positioning mode.
  • descriptions regarding the signal quality of the GNSS signal, the first threshold, etc. may refer to the method 1100 and the like.
  • the method may further include: obtaining a first state parameter, which may include at least one of the distance between the vehicle and the entrance of the parking lot, the speed of the vehicle, and the signal quality of the GNSS signal. ; When the first state parameter meets the preset condition, the parking lot marker is detected; when the parking lot marker is detected, it can be determined that the vehicle is located in the parking lot.
  • a first state parameter which may include at least one of the distance between the vehicle and the entrance of the parking lot, the speed of the vehicle, and the signal quality of the GNSS signal.
  • 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.
  • 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.
  • Embodiments of the present application also provide devices for implementing any one of the above methods 1100 to 2700, and methods that are combined with each other. For the sake of simplicity, only the devices that implement some of the above methods are described below.
  • FIG. 30 is a schematic structural diagram of a device for determining that a vehicle is located in a parking lot area according to an embodiment of the present application.
  • the device 2800 may include an acquisition module 2810 and a processing module 2820 .
  • the obtaining module 2810 is used to obtain the first status parameter.
  • 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, and may also include other parameters, such as latitude and longitude information.
  • description regarding the first state parameter may refer to the method 1700 or the like.
  • the acquisition module 2810 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 2820 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 corresponding first threshold may be determined according to the first state parameter.
  • the first threshold may include a threshold related to the signal quality of the GNSS signal.
  • the processing module 2820 can detect parking lot markers based on data collected by sensing 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 S1720 to S1730 and so on.
  • FIG. 31 is a schematic structural diagram of a device for activating a sensor provided by an embodiment of the present application.
  • the device 2900 may include an acquisition module 2910 and a processing module 2920.
  • the acquisition module 2910 can be used to acquire voice instructions or user operation information.
  • the processing module 2920 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 S1820 For example, regarding the description of the parking voice instruction and the first operation, reference may be made to step S1820 and so on.
  • the acquisition module 2910 may also be used to acquire data collected by the one or more sensing sensors.
  • the processing module 2920 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 2920 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 2920 can determine the parking area based on the image, such as determining the identification of the parking area, etc.
  • the device 2900 can be used to implement the above method 1800.
  • FIG. 32 is a schematic structural diagram of a device for identifying a parking space identification 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 can be used to acquire the first parking space image; the processing module 3020 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 3010 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 3020 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 3020 can also be used to: determine a first ratio according to the first parking space image, and the first ratio can be used to indicate the proportion of the target parking space in the first parking space image; process Module 3020 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 20 can be obtained, and by determining the proportions of multiple parking spaces in the image, such as as shown in (b) in Figure 20 , the target parking space is determined to be (a in Figure 20 ) identified in 2051, so that the identity 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 processed such as distortion correction. Finally, determine the first ratio 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 3020 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 3010 can be used to obtain images of the target parking space at multiple times, and the processing module 3110 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 sensor can collect a video of the target parking space within a first period of time.
  • the video can include images at multiple times, and the multiple images can be combined to determine the identity of the target parking space. This can avoid errors due to a single image. Recognition errors caused by incomplete identification can improve the accuracy of the identified identification.
  • the first duration can be any length of time, such as 5 seconds, 13 seconds, etc. This is not limited in the embodiments of the present application.
  • the processing module 3020 can also be used to control the vehicle-mounted display 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 20 to indicate the target parking space; for another example, only the identification of the target parking space in the image of the target parking space can be displayed on the vehicle-mounted display.
  • 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.
  • the interface shown in Figure 21 . It should be understood that 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 3000 may further include a sending module 3030, 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 3030 which may be used to send a first message, and the first message may be used to indicate the target parking space.
  • the device 3000 can be used to implement the method 1900, and the description of the target parking space, the identification of the target parking space, etc. may refer to the method 1900 and so on.
  • FIG. 33 is a schematic structural diagram of a device for identifying a parking area 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 surrounding environment information, 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 3120 may be used to determine the parking area based on the image of the landmark.
  • the processing module 3120 can also detect markers in the parking area based on the surrounding environment information.
  • the processing module 3120 may be used to determine the parking area identification based on the image of the landmark in the parking area.
  • the processing module 3120 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 S1730 For the description of determining the parking area identification according to the confidence level of the text, reference may be made to step S1730 and so on.
  • the acquisition module 3110 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 3120 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 3120 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 S1730 and so on.
  • the processing module 3120 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 3110 can be used to obtain images of landmarks in the parking area at multiple times, and the processing module 3120 can be used to determine the parking area based on the images of landmarks in the parking area at multiple times.
  • 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 3120 can also be used to control the vehicle-mounted display 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 3100 may also include a sending module 3130.
  • the sending module 3130 may be used to send a second message, and the second message may be used to indicate the parking area.
  • the device 3100 can be used to implement the method 1700.
  • the device 3100 can be used to implement the method 1700.
  • the method 1700 can be used to implement the method 1700.
  • FIG. 34 is a schematic structural diagram of an interactive device for indicating a parking location provided by an embodiment of the present application.
  • the device 3200 may include an acquisition module 3210 and a display module 3220.
  • the acquisition module 3210 can be used to obtain vehicle location information.
  • the acquisition module can be used to obtain the first message, and the first message can include the parking location information of the vehicle.
  • the parking location information can be used to indicate the parking floor information, parking zone information, and parking space information of the vehicle. At least one of the above, for example, the parking location information may be used to indicate the parking floor information and/or the parking zone information of the vehicle, and the parking space information.
  • the display module 3220 can be used to display a first interface, and the first interface can be used to indicate the parking location.
  • the display module 3220 can be used to display parking area information.
  • the display module 3220 can be used to display information about the target parking space.
  • the display module 3220 can be used to display parking floor information.
  • the display module 3220 may be used to display the parking location indicated by the first latitude and longitude information.
  • the display module 3220 may be used to display images of landmarks in the parking area.
  • the display module 3220 may be used to display an image of the target parking space.
  • the display module 3220 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. 35 is a schematic structural diagram of a device for determining a vehicle position 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 obtain the vehicle's motion status information and/or surrounding environment information during the movement of the vehicle when the vehicle enters the parking lot;
  • the processing module 3320 can be used to obtain the motion status information of the vehicle according to the vehicle's motion status information. and/or surrounding environment information to determine the area where the vehicle is located in the parking lot.
  • vehicle motion status information and surrounding environment information may refer to method 2700 and so on.
  • the acquisition module 3310 can be used to acquire a GNSS signal; the processing module 3320 can be used to determine the parking position positioning mode according to the signal quality of the GNSS signal.
  • the processing module 3310 when working in the first positioning mode, can be used to determine the area where the vehicle is in the parking lot according to the GNSS signal; when it is determined that the parking positioning mode is the second positioning mode, the processing module 3310 3310 may be used to determine the area where the vehicle is located in the parking lot based on the vehicle's motion status information and/or surrounding environment information.
  • the floor, parking zone, parking space, etc. where the vehicle is located in the parking lot can be determined.
  • the parking position positioning mode is the second positioning mode.
  • the processing module 3320 can be specifically used to: determine the first intersection through which the vehicle passes based on the surrounding environment information.
  • the first intersection can include floors and floors. The floors connected by the passages between the floors, and the intersections between the passages between the floors; according to the first intersection passed by the vehicle, the parking floor of the parking lot where the vehicle is located can be determined.
  • the parking floor is where the vehicle is in the parking position. on the floor.
  • the description about the first intersection may refer to step S1510 and so on.
  • the acquisition module 3310 can be used to acquire an image of the first channel, which can be an inter-floor channel through which the vehicle passes.
  • the processing module 3320 can be specifically used to: according to the first channel Image to determine the channel guide signs; determine the parking floor based on the channel guide signs.
  • the description of the first channel and the channel guide identifier may refer to the method 1400 and so on.
  • the processing module 3320 may be specifically configured to: activate the second sensor when it is determined that the vehicle is located in the inter-floor passage; and control the second sensor to collect surrounding environment information.
  • the acquisition module 3310 can directly acquire the surrounding environment information collected by the second sensor, or acquire the surrounding environment information collected by the second sensor from other modules, or acquire filtered data from other modules. Processed peripheral ring Environmental information, this application does not limit this.
  • the acquisition module 3310 can be used to obtain the pitch angle information of the vehicle within the first time period; the processing module 3320 can also be used to: determine the vehicle's pitch angle information based on the vehicle's pitch angle information within the first time period. The number of inter-floor passages passed by; determine the parking floor based on the number of inter-floor passages passed by the vehicle.
  • the description about the first duration may refer to step S1210 and so on.
  • the processing module 3320 may be used to: detect parking zone markers based on surrounding environment information, where the markers may include pillars; and determine parking zones based on images of the markers.
  • the acquisition module 3310 may be used to acquire a first parking space image, where the first parking space image includes a first parking space; the processing module 3320 may be specifically configured to: determine based on the image of the first parking space. The first parking space sign.
  • step 1920 For example, regarding the description of determining the identification of the first parking space, reference may be made to step 1920 and so on.
  • the processing module 3320 may also be used to determine the area keyword according to the identification of the first parking space.
  • the description of the regional keyword may refer to the method 2200.
  • the identification of the first parking space includes an area keyword
  • the processing module 3320 may be configured to determine the parking area based on the image of the landmark and the area keyword.
  • the acquisition module 3310 can also be used to: acquire a first instruction, the first instruction is used to indicate that the user of the vehicle has parking intention; the acquisition module 3310 can be specifically used to: according to the first Instructions to obtain the vehicle's motion status information and/or surrounding environment information.
  • description about the first instruction may refer to method 2700 and so on.
  • the acquisition module 3310 may be configured to: when detecting that the vehicle enters the parking state, acquire the vehicle's motion state information and/or surrounding environment information.
  • the processing module 3320 can control the activation of the first sensor and control the first sensor to collect the surrounding environment. data. For example, after a vehicle enters a parking lot, it can obtain coarser-grained surrounding environment information through fewer cameras and radar sensors. When it is determined that the user intends to park, more sensors can be activated to obtain more detailed information. Surrounding environment information, etc.
  • the device 3300 may also include a sending module 3330.
  • the sending module may be specifically configured to: send a first message.
  • the first message may be used to indicate the parking area, the first parking space, or the parking floor. At least one item.
  • the description about the first information may refer to the method 1100 and so on.
  • the sending module 3330 may send the first message when it detects that the vehicle has completed parking.
  • the first message can be sent when it is detected that the vehicle is powered off, the parking brake of the vehicle is detected to be in working state, the gear of the vehicle is detected to be park, the vehicle is stalled, etc.; for another example, This first message may be sent when the user is not detected in the vehicle's cabin.
  • the processing module 3320 can also be used to detect whether the vehicle has completed parking. For example, it can determine whether the vehicle has completed parking according to the control signal of the vehicle, and so on.
  • the first message may be an encrypted message.
  • the processing module 3320 may be used to implement encryption of the first message.
  • the first message can be encrypted through asymmetric encryption or symmetric encryption. It should be understood that the method for encrypting the first message can refer to related technologies, and the embodiments of the present application do not limit this.
  • the device may also include a receiving module 3340, which may be used to receive parking location request information, which may be used to request the parking location of the vehicle, and the sending module 3330, which may be used to , sending the first message according to the parking location request information.
  • a receiving module 3340 which may be used to receive parking location request information, which may be used to request the parking location of the vehicle
  • the sending module 3330 which may be used to , sending the first message according to the parking location request information.
  • the parking location request information may include the requester's identity information
  • the sending module 3330 may be specifically configured to send the first message based on the requester's identity information.
  • the processing module 3320 can determine the content included in the first message based on the requester's identity information.
  • the processing module 3320 may be configured to: determine the parking position positioning mode as the first positioning mode when the signal quality of the GNSS signal is greater than or equal to the first threshold; or, when the signal quality of the GNSS signal is less than Or equal to the first threshold, the parking position positioning mode is determined to be the second positioning mode.
  • description regarding the first threshold and the like may refer to the method 1100.
  • the acquisition module 3310 may also be used to: acquire a first state parameter, which 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 processing module 3320 can also be used to detect a parking lot marker when the first state parameter meets the preset condition; when a parking lot marker is detected, it can be determined that the vehicle is located in the parking lot area.
  • the device 3300 can be used to implement the method 2700.
  • FIG. 36 is a schematic structural diagram of a device for determining a parking floor provided by an embodiment of the present application.
  • the device may include an acquisition module 3410 and a processing module 3420.
  • the acquisition module 3410 can be used to obtain the surrounding environment information; the processing module 3420 can be used to determine the first intersection through which the vehicle passes based on the surrounding environment information; and can determine the parking floor based on the first intersection through which the vehicle passes.
  • the description about the first intersection may refer to step S1510 and so on.
  • the acquisition module 3410 can be used to obtain an image of the inter-floor passage
  • the processing module 3420 can be specifically used to: determine the entrance/exit of the inter-floor passage based on the image of the inter-floor passage; Determine the first intersection based on the entrance/exit of the passage between floors,
  • the exit of the inter-floor passage can be determined based on the image of the inter-floor passage, thereby determining the first intersection; or, when the vehicle is located in the floor, the exit of the inter-floor passage can be determined based on the image collected by the sensing sensor. Data to determine the entrance to the inter-floor passage, thereby determining the first entrance.
  • the first intersection can be determined through feature extraction and recognition.
  • the acquisition module 3410 can also be used to obtain the pitch angle information of the vehicle, and the processing module 3420 can be used to determine that the vehicle is in the inter-floor passage based on the pitch angle information of the vehicle. Further, the processing module 3420 can also be used to: activate the first sensor when it is determined that the vehicle is in the inter-floor passage; and control the first sensor to collect surrounding environment information.
  • the processing module 3420 may also determine whether the vehicle is located in the passage based on the vehicle's acceleration information, data collected by the slope sensor, etc.
  • the relative change of floors can be determined. It should be understood that the method of determining the relative change of floors may refer to step S1520 and so on.
  • the processing module 3420 may determine the first intersection based on the pitch angle information of the vehicle and the multiple intersections passed by the vehicle.
  • the device may also include a sending module 3430, which may be used to send parking floor indication information after determining the parking floor.
  • the parking floor indication information may be used to indicate the parking floor, correspondingly Locally, terminal devices such as mobile phones and/or cloud servers can obtain the parking floor indication information from vehicles, network devices or other devices.
  • the device 3400 can be used to implement the method 1500. According to the device provided by the embodiment of the present application, by determining the first intersection, the interference of the building structure of the parking lot on the identification of the parking floor can be reduced, and the accuracy of the determined parking floor can be improved.
  • FIG. 37 is a schematic diagram of another device for determining a parking floor provided by an embodiment of the present application.
  • the device may include an acquisition module 3510 and a processing module 3520.
  • the acquisition module 3510 can be used to obtain the pitch angle information of the vehicle; the processing module 3520 can be used to determine the parking floor based on the pitch angle information of the vehicle.
  • the acquisition module 3510 may be used to obtain the pitch angle information within a first period of time.
  • the starting time of the first period of time may be earlier than or equal to the time when the vehicle first enters the inter-floor passage.
  • the end time of a period of time may be equal to or later than the moment when the vehicle enters the parking floor; the processing module 3520 may be specifically configured to determine the parking floor based on the pitch angle information within the first period of time.
  • the real-time pitch angle information of the vehicle can be determined based on the data collected by the IMU. For example, based on the real-time pitch angle information of the vehicle, the moment when the vehicle first drove into the inter-floor passage can be determined, or the moment when the vehicle drove out of the inter-floor passage for the last time before being in the parking position.
  • the acquisition module 3510 can obtain From the pitch angle information of the vehicle within this period, the processing module 3520 can determine the parking floor; for another example, through parking lot marker detection, the moment when the vehicle enters the parking area can be determined, and the time at which the vehicle enters the parking area can be obtained.
  • the acquisition module 3510 can obtain the pitch angle information of the vehicle after this moment; for another example, the device 3500 can include the IMU, so that the pitch angle information of the vehicle can be obtained based on the data collected by the IMU, or it may not include the IMU. , so that the pitch angle information of the vehicle can be obtained through communication inside the vehicle.
  • the embodiment of the present application does not limit this.
  • the cockpit domain controller may include an IMU or not. Including an IMU, when the cockpit domain controller does not include the IMU, for example, when the automatic driving domain controller includes an IMU, the pitch angle information of the vehicle can be obtained through communication between the devices. It should be understood that the above description of the first duration and the pitch angle information of the vehicle is only an example for ease of explanation, and the embodiments of the present application do not limit this.
  • the method of obtaining the vehicle pitch angle may also refer to other related technologies, which is not limited in the embodiments of the present application.
  • apparatus 3500 may be used to implement method 1200.
  • the parking floor is determined based on the pitch angle information of the vehicle. Since the acquisition of the pitch angle information does not rely on radar sensors or camera sensors, it is applicable to low-configuration models and can also save time in determining the parking level.
  • the resource consumption used for radar sensors, camera sensors, etc. during the location process can reduce the vehicle's power consumption and increase the vehicle's cruising range for electric vehicles, new energy vehicles, 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.
  • the units may be fully or partially integrated into a physical entity, or may 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. It can include a large number of logic gate circuits, and the connection relationships between the logic gate circuits can be configured through configuration files to realize the functions of some or all of the above units. All units of the above device may be fully realized by the processor calling software, or may be fully realized by hardware circuits, or part of the units may be realized by the processor calling software, and the remaining part may be realized by hardware circuits.
  • 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 can 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, 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 area where the vehicle is located in the parking lot is determined.
  • the processor that determines the area where the vehicle is located in the parking lot and the processor that obtains the surrounding environment information can be the same processor. They 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 3300 may be a chip provided in a vehicle machine or other vehicle-mounted terminal.
  • the above-mentioned device 3300 may be a device installed in a vehicle. Computing platform 150 as shown in Figure 1.
  • FIG. 38 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 one or more methods shown in FIGS. 11 to 27 , and the processor 5002 reads the executable code in the memory 5004 to execute one of the methods shown in FIGS. 11 to 27 or multiple methods.
  • 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
  • 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 2700 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 2700 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 3310 and/or the processing module 3320.
  • the program code 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 3310 and/or the processing module 3320. .
  • FIG. 39 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. 30
  • the electronic device 7200 can be a terminal device such as a mobile phone in the above method embodiment.
  • the vehicle 7100 may be used to send a first message, and the first message may include parking location information of the vehicle.
  • the electronic device 7200 may be used to receive the first message, and control and display the parking location of the vehicle according to the first 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.
  • it can be displayed as shown in Figure 25, Figure 26, and Figure 27 Interface; for another example, when the electronic device is connected to an external display device, the external display device can also be controlled to display the parking position of the vehicle.
  • the electronic device 7200 can also be used to send parking location request information, and the vehicle 7100 can be used to receive the parking location request information, and can be used to send the first message according to the parking location request information.
  • 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 sensor” and “second sensor” are only used for distinction and do not mean that the priorities of “first sensor” and “second sensor” 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.
  • these components may be obtained from various computer-readable media having various data structures stored thereon. Quality execution.
  • 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

一种确定停车位置的方法和装置，该方法包括：在车辆进入停车场时，在该车辆的运动过程中，获取该车辆的运动状态信息和/或周边环境信息；根据该车辆的运动状态信息和/或周边环境信息，确定车辆在该停车场内所在的区域。该方法可以应用于新能源车辆或智能车辆，在车辆进入停车场时，能够根据车辆所处的位置，获取车辆的运动状态信息和/或周边环境信息，进而确定车辆在停车场内所在的区域，能够避免停车场建筑结构、周边物体等对GNSS信号遮挡而无法确定车辆位置的情形，有利于用户无感获知车辆的停车位置，能够提高用户寻车的使用体验。

Description

一种确定停车位置的方法和装置
本申请要求于2022年7月1日提交中国专利局、申请号为202210769849.X、申请名称为“一种确定停车位置的方法和装置”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，涉及一种确定停车位置的方法和装置。
背景技术
目前，随着车辆保有量的持续增长，人们对于停车场找车的需求也越来越强烈。尤其是对于大型停车场，由于其地形复杂，而且部分室内停车场的全球定位系统(global positioning system，GPS)信号强度较弱，无法精确定位车辆的位置，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，以至于无法快速、准确地找到车辆停放位置。
发明内容
本申请实施例提供一种确定停车位置的方法和装置，在车辆进入停车场时，能够根据车辆的位置，获取车辆所在的停车场的区域的信息，进而确定车辆的停车位置，便于提高用户对于寻车的体验。
第一方面，提供了一种确定停车位置的方法，该方法包括：在车辆进入停车场时，在该车辆的运动过程中，获取该车辆的运动状态信息和/或周边环境信息；根据该车辆的运动状态信息和/或周边环境信息，确定车辆在该停车场内所在的区域。
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，车辆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，可以基于车辆所在的位置，根据该车辆的运动状态信息和/或周边环境信息，确定车辆在该停车场中所在的区域。
示例性地，车辆的运动状态信息，可以包括车辆的位姿信息，比如，车辆的俯仰角信息、车辆的位置信息等，又比如，该车辆的位置信息可以是根据全球卫星导航系统(global navigation satellite system，GNSS)信号所确定的车辆的位置。示例性地，周边环境信息，可以包括车辆的感知传感器等所采集的原始环境数据，比如雷达所采集的点云信息、摄像头所采集的图像信息等，也可以包括对该原始环境数据经滤波、降噪、特征提取等处理后的数据。
本申请实施例中，在车辆进入停车场时，能够根据车辆所处的位置，获取车辆的运动状态信息和/或周边环境信息，进而确定车辆在停车场内所在的区域，能够避免停车场建筑结构等周边物体等对于GNSS信号遮挡，而无法确定车辆位置的情形，有利于用户无感获知车辆的停车位置，能够提高用户寻车的使用体验。
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：获取GNSS信号；根据该GNSS信号的信号质量，确定停车位置定位模式，该停车位置定位模式可以包括第一定位模式或第二定位模式，在通过该第一定位模式工作时，根据该GNSS信号确定车辆的停车位置；根据该车辆的运动状态信息和/或周边环境信息，确定车辆在该停车场内所在的区域，包括：在确定停车定位模式为第二定位模式时，根据该车辆的运动状态信息和/或周边环境信息，确定车辆在该停车场内所在的区域。
示例性地，在车辆运动过程中，可以根据车辆的运动状态信息和/或周边环境信息，确定车辆在该停车场内所在的区域，由此，在车辆停车时，可以确定此时车辆所在的停车楼层、停车分区、停车位，也就是说，根据该车辆的运动状态信息和/或周边环境信息，可以确定车辆的停车楼层、停车分区、停车位中的至少一项。
示例性地，示例性地，GNSS信号的信号质量可以通过信号强度、GNSS信号状态等表征。例如，在所获取的GNSS信号的信号强度大于或等于预设阈值(比如，-124dBm、-120dBm等)时，可以根 据GNSS信号确定车辆的位置。
本申请实施例中，通过确定GNSS信号的信号质量，可以根据不同场景灵活确定停车位置定位模式，有利于实现不同场景下对停车定位方案的需求，从而可以满足当停车位置位于室外停车场等GNSS信号较好的场景时，可以以较低的资源消耗确定停车位置，而且根据GNSS信号确定的停车位置能够便于用户根据地图快速寻车，还可以满足当停车位置位于室内停车场等GNSS信号较差的场景时，通过确定停车楼层、停车区域、停车位等，可以以便于用户快速寻车，从而可以提高用户的体验。
结合第一方面，在第一方面的某些实现方式中，该停车场包括楼层间通道，该根据车辆的运动状态和/或周边环境信息，确定车辆在该停车场内所在的区域，可以包括：根据周边环境信息，确定车辆所途经的第一路口，该第一路口可以包括与该楼层间通道相连的楼层，和该楼层间通道之间的路口；根据该车辆所途经的第一路口，可以确定车辆所处的停车场的停车楼层，停车楼层为车辆处于停车位姿时所处的楼层。
示例性地，该第一路口可以包括与该楼层间通道相连的楼层，和该楼层间通道之间的路口，也就是说，第一路口可以是楼层间通道的出入口，比如，车辆在楼层间通道内行驶时，可以将该楼层通道在车辆行驶方向的出口，确定为该第一路口，又比如，车辆在任一楼层内行驶时，可以将车辆将驶入的楼层间通道的入口，确定为该第一路口。
示例性地，根据周边环境信息，可以确定道路特征和/或通道特征，根据该道路特征和/或通道特征，确定该第一路口。例如，根据摄像头传感器所获取的图像，可以检测交叉路口，可以结合车辆的俯仰角信息，确定该路口是否为第一路口；又例如，车辆在通道内行驶时，比如，可以根据雷达传感器和/或摄像头传感器采集的数据，可以识别该通道在出口处的侧壁，从而由此可以确定第一路口；又例如，车辆在驶入停车场直至行驶至目标车位的过程中，可以实时检测车辆行驶过程中所途经的多个路口，可以根据车辆途经该多个路口的时段以及车辆俯仰角信息，可以从该多个路口中确定其中的第一路口。应理解，以上关于确定第一路口的方法只是示例，本申请实施例对此不做限定。
示例性地，根据第一路口可以确定楼层的相对变化，可以确定车辆当前所处的楼层位置。
本申请实施例中，通过确定车辆途经的第一路口的个数，确定停车楼层，可以降低室内停车场的建筑结构等对识别停车楼层的影响，可以适用于更广泛的场景，能够提高所确定的停车楼层的准确性。
结合第一方面，在第一方面的某些实现方式中，该周边环境信息包括第一通道的图像，该第一通道包括该车辆通过的楼层间通道，该根据该车辆的运动状态信息和/或周边环境信息，确定车辆在该停车场内所在的区域，可以包括：根据第一通道的图像，确定通道指引标识；根据该通道指引标识，确定停车楼层。
示例性地，通道指引标识，可以用于指示该楼层间通道内的通行方式。例如，根据第一通道的图像，可以识别得到一种或多种标识，比如，通道指引标识可以是“>>>”、“→”，又比如，通道指引标识可以是“通往地下一层”、“>>>通往地下一层>>>”等。
一些可能的实现方式中，根据通道指引标识，可以确定楼层关键字。例如，该楼层关键字可以为“层”、“B”等，在确定通道指引标识(比如“通往地下一层”、“通往B1”，“xxx层”等)包括该楼层关键字时，根据该关键字可以确定楼层标识；又例如，可以在确定通道指引标识的置信度之后，比如，可以筛除仅包括符号的通道指引标识，而后可以根据楼层关键字，确定楼层标识；又例如，在车辆通过多个楼层间通道时，可以根据所获取的该多个楼层间通道的图像的时间顺序，确定停车楼层标识。
一些可能的实现方式中，根据第一通道的图像，可以确定通道指引标识所在的位置，可以结合通道指引标识所在的位置，确定楼层标识。例如，对于通道指引标识位于楼层间通道的路面的场景，可以仅获取车辆所在车道的通道指引标识；又例如，对于通道指引标识位于楼层间通道的侧壁时，可以仅获取车辆副驾侧的通道内墙上的标识。
本申请实施例中，通过结合通道指引标识所在的位置，确定楼层标识，可以避免在双向行驶通道情形下对楼层标识的误判，可以提高识别停车楼层的准确性。进一步地，根据第一路口和通道指引标识，确定停车楼层，能够充分利用楼层间通道内，以及楼层间通道出入口的信息，从而可以提高所确定的停车楼层的准确度。
由于停车楼层内空间较大，且可能会存在较多的标识，由此可能难以准确识别停车楼层的标识。而在本申请实施例中，通过第一通道的图像，确定通道指引标识，根据该通道指引标识，确定停车楼 层，可以降低筛选停车楼层的标识的难度，也可以避免停车场建筑结构对识别停车楼层的影响，从而可以提高确定停车楼层的准确度。
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：在确定车辆位于楼层间通道时，启动第二传感器；控制该第二传感器采集该周边环境信息。
示例性地，该第二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，该第二传感器可以包括多个安装于车辆不同位置的摄像头传感器；又例如，该第二传感器可以包括一个或多个安装摄像头传感器，以及，一个或多个雷达传感器。
本申请实施例中，在确定车辆楼层间通道时，启动并控制第二传感器采集周边环境信息，可以降低该第二传感器的资源消耗，对于通过电池等驱动的车辆而言，可以在一定程度上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，该车辆的运动状态信息包括该车辆在第一时长内的俯仰角信息，该根据该车辆的运动状态信息和/或周边环境信息，确定车辆在该停车场内所在的区域，可以包括：根据该车辆在第一时长内的俯仰角信息，确定该车辆通过的该楼层间通道的个数，其中，该第一时长的起始时刻早于或等于该车辆驶入首个楼层间通道的时刻，该第一时长的结束时刻等于或晚于该车辆驶入停车楼层的时刻；根据该车辆通过的该楼层间通道的个数，确定该停车楼层。
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，对于电动车、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，该根据该车辆的运动状态信息和/或周边环境信息，确定车辆在该停车场内所在的区域，包括：根据该周边环境信息，检测到该停车分区的标志物；根据该标志物的图像，确定该停车分区。
示例性地，该停车分区可以是指“A区”、“H-17”、“B-17”、“H-10-2”、“xx区”等停车场的停车区域。
示例性地，该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，从中筛选得到停车分区的标识等信息，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，获取停车分区的标识，可以缩小停车分区的标识的识别范围，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停车分区的标识的准确性。
一些可能的实现方式中，该停车分区的标志物可以为立柱。
本申请实施例中，由于停车场中立柱分布规律且密度较高，而且停车分区的标识较高的概率布置于立柱，由此，在检测到立柱时，通过获取该立柱的图像，确定停车分区，可以降低无关标识对识别停车分区的影响，由此提高确定停车分区的准确性，也可以节省在识别停车分区的过程中的开销，进一步地，还可以在无法识别该停车分区的标识的情况下，通过该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，获知车辆所处停车分区，便于用户寻车。
结合第一方面，在第一方面的某些实现方式中，该周边环境信息包括第一车位图像，该第一车位图像包括第一车位，该第一车位包括车辆处于停车位姿时所处的车位，该根据该车辆的运动状态信息和/或周边环境信息，确定车辆在该停车场内所在的区域，包括：根据该第一车位图像，确定该第一车位的标识。
示例性地，由于在车辆运动过程中，车辆可能并未处于该第一车位内，此时该第一车位相当于车辆预期驶入的停车位，由此该第一车位也可以称为目标车位，该第一车位图像可以包括第一车位的部分或全部。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，可以包括第一车位的部分区域。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。
在一些可能的实现方式中，该第一车位图像，可以包括多个摄像头传感器所采集的图像经图像处 理所得到的图像。例如，该第一车位图像可以是，由多个摄像头所采集的图像，经图像拼合处理后所得到的图像，比如经全景影像系统所获取的图像，又比如，经透视底盘功能所获取的图像，等。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。
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，可以包括：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，可以获取第一车位的多个时刻的图像信息，可以根据该第一车位在该多个时刻的图像信息，确定多个标识信息，根据该多个标识信息，可以获取该第一车位的标识。例如，可以根据该多个标识的置信度，确定该第一车位的标识。
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车位残缺标识，该车位残缺标识可以包括第一车位的标识的部分，可以对该至少两个车位残缺标识中的多个车位残缺标识进行拼接融合，获得该第一车位的标识。例如，该车位残缺标识可以包括“A10”、“106”，从而通过拼接融合，可以确定该第一车位的标识为“A106”。
一些可能的实现方式中，可以根据该标识信息的置信度，确定第一车位的标识。例如，根据第一车位的图像，可能识别到“消防通道”、“A106”、“专用车位”、“→”等标识信息，可以认为仅包括文字的标识，比如“消防通道”、“专用车位”的置信度较低，可以认为仅包括符号的标识，比如“→”的置信度较低，从而可以根据标识信息的置信度，确定第一车位的标识。
本申请实施例中，通过确定第一车位的标识，可以确定车辆所在的停车位。进一步地，结合车位指示信息，可以提高所确定的第一车位的标识的准确性。
结合第一方面，在第一方面的某些实现方式中，该第一车位的标识包括区域关键字，该方法还可以包括：根据标志物的图像和该区域关键字，确定该停车分区。
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。
结合第一方面，在第一方面的某些实现方式中，该获取该车辆的运动状态信息和/或周边环境信息，包括：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，获取该车辆的该运动状态信息和/或该周边环境信息。
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，在语音交互中，在检测到用户下达的“我要停车”、“自动泊车”、“驶入车位”等语音指令时，可以获取该车辆的该运动状态信息和/或该周边环境信息，进一步地，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)；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)，获取该车辆的该运动状态信息和/或该周边环境信息，比如，获取周边的空闲车位的图像信息等；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，获取该车辆的该运动状态信息和/或该周边环境信息。
结合第一方面，在第一方面的某些实现方式中，该获取该车辆的运动状态信息和/或周边环境信息，包括：在检测到车辆进入停车状态时，获取该车辆的该运动状态信息和/或该周边环境信息。
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。
本申请实施例中，在确定用户存在停车意图时，获取该车辆的运动状态信息和/或周边环境数据，由此可以通过识别停车的时机，可以减少所获取的环境数据中的无效信息，提高所确定的停车位置的准确性，也可以降低用于确定停车位置的资源开销。
示例性地，在检测到车辆进入停车状态时，获取周边环境信息，可以包括，在检测到车辆进入停车状态时，控制第一传感器启动，控制第一传感器采集周边环境信息。
类似地，根据第一指令，获得周边环境信息，可以包括，在检测到该第一指令时，控制该第一传感器启动，控制该第一传感器采集周边环境信息。
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，该第一传感器可以包括多个安装于车辆不同位置的摄像头传感器；又例如，该第一传感器可以包括一个或多个安装摄像头传感器，以及，一个或多个雷达传感器。应理解，以上第一传感器和第二传感器只是用于区分，也就是说，在检测到用户的停车意图时所启用的传感器，与在确定车辆处于楼层间通道时所启用的传感器，可以是相同的，也可以是不同的。
本申请实施例中，在确定用户存在停车意图时，控制传感器周边环境信息，由此可以降低用于采集周边环境信息的第一传感器的资源开销，而且也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、第一车位、停车楼层的准确性。
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：发送第一消息，该第一消息用于指示该停车区域、该第一车位、该停车楼层中的至少一项。
示例性地，在确定停车位置之后，可以发送第一消息。例如，在通过该第一定位模式工作时，该第一消息可以用于指示根据GNSS信号所确定的停车位置；又例如，在通过该第二定位模式工作时，该第一消息可以用于指示该停车区域、该第一车位、该停车楼层中的至少一项；又例如，该第一消息可以通过指示停车位置的经纬度信息、海拔信息等的方式，指示根据GNSS信号所确定的停车位置。
示例性地，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，从而获知该车辆所在的停车位置。
本申请实施例中，通过发送第一消息，可以向手机等终端设备指示该停车位置，从而在室内停车场等场景下，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位置拍照的情况下，获知该车辆所在停车位置，可以提高用户体验；或者，在室外停车场等GPS信号较好的场景下，可以使得手机等终端设备，可以确定该根据GPS信号所确定的停车位置，也可以有利于基于地图，根据该位置对用户寻车进行导航，以提高用户的使用体验。
示例性地，手机等终端设备可以在接收到该第一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，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。
在一些可能的实现方式中，该第一消息可以为加密消息。
示例性地，可以通过对称加密、非对称加密等方式实现对第一消息的加密。
本申请实施例中，通过对第一消息的加密，有利于保证通信中的数据安全。
结合第一方面，在第一方面的某些实现方式中，该发送第一消息，可以包括：在该车辆的座舱内未检测到用户时，发送该第一消息。
示例性地，可以根据座椅压力传感器、座舱内的摄像头传感器等所采集的数据，确定座舱内是否存在用户。
本申请实施例中，在确定车辆的座舱内无用户时，发送该第一消息，可以降低发送该第一消息的频次，从而可以节省通信中所使用的流量。
一些可能的实现方式中，可以在确定车辆完成停车时，发送该第一消息。例如，在确定车辆下电、检测到车辆熄火、检测到驻车制动处于工作状态，等等情形时，可以发送该第一消息。
一些可能的实现方式中，可以接收停车位置请求消息，可以根据该停车位置请求消息，发送该第一信息。例如，手机等终端设备可以发送停车位置请求消息，在接收到该停车位置请求消息后，可以发送该第一消息，相应地，手机等终端设备可以获取该第一消息。
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，发送该第一消息，可以包括：根据该请求人身份信息，确定位置指示信息；根据该位置指示信息，发送该第一消息。
示例性地，根据请求人的身份信息，可以确定该请求人的权限。例如，该用户为未授权用户时，可以不发送该第一提示信息；又比如，该用户为授权用户，比如，该确定该请求人为车主时，该第一提示信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，该请求人仅具有部分权限时，可以根据该请求人的权限，确定该第一消息所包括的内容，也就是说，根据请求人的身份、权限，所发送的第一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。
结合第一方面，在第一方面的某些实现方式中，根据GNSS信号的信号质量，确定停车位置定位模式，可以包括：在GNSS信号的信号质量大于或等于第一阈值时，确定该停车位置定位模式为第一定位模式；或，在GNSS信号的信号质量小于或等于第一阈值时，确定该停车位置定位模式为第二定位模式。
示例性地，GNSS信号的信号质量可以通过信号强度、服务卫星数等来表征。例如，在使用信号强度表征GNSS信号的信号质量时，比如，该第一阈值可以是-130dBm、-125dBm等，也可以是，在GNSS信号的信号强度大于或等于125dBm(再比如-123dBm等)且持续时长大于或等于5秒(再比如3秒等)时，认为该GNSS信号的信号质量大于或等于第一阈值；又例如，在当前天线视野上方的卫星数不低于预设数量(比如5个、6个等)时，可以认为GNSS信号的信号质量大于或等于该第一阈值。应理解，以上关于第一阈值的描述只是示例，还可以以其他方式确定该第一阈值，本申请实施例对此不做限定。
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：获取第一状态参数，该第一状态参数包括该车辆与停车场的入口间的距离、车辆的车速和GNSS信号的信号质量中的至少一项；在该第一状态参数满足预设条件时，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。
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，预设条件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，在第一状态参数满足预设条件时，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。
第二方面，提供了一种确定车辆位置的装置，该装置包括：获取模块，用于在车辆进入停车场时，在车辆的运动过程中，获取车辆的运动状态信息和/或周边环境信息；处理模块，用于根据车辆的运动状态信息和/或周边环境信息，确定车辆在停车场内所在的区域。
结合第二方面，在第二方面的某些实现方式中，获取模块，可以用于获取GNSS信号；处理模块，可以用于：根据该GNSS信号的信号质量，确定停车位置定位模式，其中，该停车位置定位模式可以包括第一定位模式或第二定位模式，在通过该第一定位模式工作时，根据该GNSS信号确定车辆的停车位置；处理模块具体可以用于，在确定停车位置定位模式为该第二定位模式时，根据该车辆的运动状态信息和/或周边环境信息，确定车辆在停车场内所在的区域。
示例性地，根据该车辆的运动状态信息和/或周边环境信息，可以确定车辆的停车楼层、停车分区、停车位中的至少一项。
结合第二方面，在第二方面的某些实现方式中，该处理模块，具体可以用于：根据周边环境信息，确定车辆所途经的第一路口，该第一路口可以包括与楼层间通道相连的楼层，和该楼层间通道之间的路口；根据该车辆所途经的第一路口，可以确定该车辆所处的停车场的停车楼层，该停车楼层为车辆处于停车位姿时所处的楼层。
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：获取第一通道的图像，该第一通道可以包括车辆所通过的楼层间通道，该处理模块，具体可以用于：根据第一通道的图像，确定通道指引标识；根据该通道指引标识，确定停车楼层。
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：在确定车辆位于楼层间通道时，启动第二传感器；控制该第二传感器采集周边环境信息。
示例性地，该处理模块用于启动该第二传感器，控制该第二传感器采集周边环境信息，可以是直接控制该第二传感器启动并采集周边环境信息，也可以是通过其他装置控制该第二传感器启动并采集周边环境信息，在该第二传感器处于开启状态时，也可以是控制该第二传感器继续处于开启状态并采集该周边环境信息，本申请实施例对此不做限定。
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，获取车辆在第一时长内的俯仰角信息，其中，该第一时长的起始时刻早于或等于该车辆驶入首个楼层间通道的时刻，该第一时长的结束时刻等于或晚于该车辆驶入停车楼层的时刻；该处理模块，具体可以用于：根据车辆在第一时长内的俯仰角信息，确定车辆所通过的楼层间通道的个数；根据车辆所通过的楼层间通道的个数，确定停车楼层。
结合第二方面，在第二方面的某些实现方式中，停车位置定位模式为第二定位模式，该处理模块，具体可以用于：根据周边环境信息，检测到停车分区的标志物，该标志物可以包括立柱；根据该标志物的图像，确定停车分区。
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：获取第一车位图像，该第一车位图像包括第一车位，第一车位包括车辆处于停车位姿时所处的车位；该处理模块，具体可以用于：根据该第一车位的图像，确定第一车位的标识。
结合第二方面，在第二方面的某些实现方式中，该第一车位的标识包括区域关键字，处理模块具体可以用于：根据该标志物的图像和区域关键字，确定该停车分区。
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：获取第一指令，该第一指令用于指示车辆的用户存在停车意图；该获取模块，具体可以用于：根据该第一指令，获取车辆的运动状态信息和/或周边环境信息。
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：在检测到车辆进入停车状态时，获取车辆的运动状态信息和/或周边环境信息。
示例性地，该处理模块，还可以用于检测车辆是否进入停车状态，比如，可以根据车辆的控制信号，检测车辆是否进入停车状态。
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，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该停车分区、第一车位、停车楼层中的至少一项。
示例性地，发送模块可以用于在确定车辆停车位置之后，发送第一消息。例如，在通过第一定位模式工作时，该第一消息可以用于指示通过GNSS信号所确定的停车位置；又例如，在通过第二定位模式工作时，该第一消息可以用于指示停车分区、第一车位、停车楼层中的至少一项。
结合第二方面，在第二方面的某些实现方式中，该第一消息可以为加密消息。
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：在该车辆的座舱内未检测到用户时，发送该第一消息。
一些可能的实现方式中，在检测到车辆完成停车时，可以发送该第一消息。
一些可能的实现方式中，该装置还可以包括接收模块，该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，可以用于请求车辆的停车位置，该发送模块具体可以用于，根据该停车位置请求信息，发送该第一消息。
一些可能的实现方式中，该停车位置请求信息可以包括请求人身份信息，该发送模块，具体可以用于，根据该请求人身份信息，发送该第一消息。
结合第二方面，在第二方面的某些实现方式中，处理模块，具体可以用于：在GNSS信号的信号质量大于或等于第一阈值时，确定该停车位置定位模式为第一定位模式；或，在GNSS信号的信号质量小于或等于第一阈值时，确定该停车位置定位模式为第二定位模式。
结合第二方面，在第二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，该第一状态参数可以包括车辆与停车场入口间的距离、车速和GNSS信号的信号质量中的至少一项；处理模块，还可以用于，在该第一状态参数满足预设条件时，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。
第三方面，提供了一种确定停车楼层的方法，该方法包括：获取周边环境信息；根据该周边环境信息确定车辆途经的第一路口；可以根据车辆途经的第一路口，确定停车楼层。
示例性地，根据周边环境信息，可以确定车辆在处于停车姿态之前所途经的第一路口，可以确定在停车操作之前车辆所途经的第一路口，等等。
本申请实施例中，通过确定车辆途经的第一路口的个数，确定停车楼层，可以降低室内停车场的建筑结构等对识别停车楼层的影响，可以适用于更广泛的场景，能够提高所确定的停车楼层的准确性。
结合第三方面，在第三方面的某些实现方式中，根据车辆途经的第一路口，确定停车楼层，可以包括：根据所确定的第一路口，可以确定楼层的相对变化；根据楼层的相对变化确定停车楼层。
示例性地，根据所确定的第一路口，可以确定车辆驶入停车楼层前，车辆所在楼层的相对变化，根据该楼层的相对变化，可以确定停车楼层。
结合第三方面，在第三方面的某些实现方式中，该方法还可以包括：在确定车辆位于楼层间通道时，可以启动第二传感器，可以控制该第二传感器采集周边环境信息，该周边环境信息，可以用于确定该第一路口。
示例性地，可以根据车辆的俯仰角信息，确定车辆位于楼层间通道。
本申请实施例中，在确定车辆楼层间通道时，启动并控制第二传感器采集周边环境信息，可以降低该第二传感器的资源消耗，对于通过电池等驱动的车辆而言，可以在一定程度上提高车辆的可续航里程。
结合第三方面，在第三方面的某些实现方式中，该方法还可以包括：在确定停车楼层之后，可以发送停车楼层指示消息，该停车楼层指示消息可以用于指示停车楼层。
本申请实施例中，在确定停车楼层之后，发送该停车楼层指示消息，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楼层拍照的情况下，也可以获知该停车楼层，从而可以提高用户的使用体验。
第四方面，提供了另一种确定停车楼层的方法，该方法包括：获取第一通道的图像，该第一通道可以包括车辆所通过的楼层间通道；根据该第一通道的图像，确定通道指引标识；根据通道指引标识，确定停车楼层。
由于停车楼层内空间较大，且可能会存在较多的标识，由此可能难以准确识别停车楼层的标识。而在本申请实施例中，通过第一通道的图像，确定通道指引标识，根据该通道指引标识，确定停车楼层，可以降低筛选停车楼层的标识的难度，也可以避免停车场建筑结构对识别停车楼层的影响，从而可以提高确定停车楼层的准确度。
结合第四方面，在第四方面的某些实现方式中，该方法还可以包括：在确定车辆位于楼层间通道时，可以启动第二传感器，可以控制该第二传感器采集周边环境信息，该周边环境信息，可以用于确定该第一路口。
结合第四方面，在第四方面的某些实现方式中，该方法还可以包括：在确定停车楼层之后，可以发送停车楼层指示消息，该停车楼层指示消息可以用于指示停车楼层。
一些可能的实现方式中，在确定通道指引标识包括楼层关键字时，可以根据该通道指引标识确定楼层标识。
一些可能的实现方式中，根据第一通道的图像，可以确定通道指引标识所在的位置，可以结合通道指引标识所在的位置，确定楼层标识。例如，对于通道指引标识位于楼层间通道的路面的场景，可以仅获取车辆所在车道的通道指引标识；又例如，对于通道指引标识位于楼层间通道的侧壁时，可以仅获取车辆副驾侧的通道内墙上的标识。
本申请实施例中，通过结合通道指引标识所在的位置，确定楼层标识，可以避免在双向行驶通道情形下对楼层标识的误判，可以提高识别停车楼层的准确性。
第五方面，提供了另一种确定停车楼层的方法，该方法包括：获取第一时长内的俯仰角信息，该第一时长的起始时刻可以早于或等于车辆首次驶入楼层间通道的时刻，该第一时长的结束时刻可以等于或晚于车辆驶入停车楼层的时刻；根据该第一时长内的俯仰角信息，确定停车楼层。
示例性地，在车辆处于停车位姿之前，可以实时获取车辆的俯仰角信息。例如，可以实时获取IMU等传感器所采集的数据，根据该数据，确定实时的俯仰角数据。
示例性地，根据车辆实时的俯仰角信息，可以确定车辆首次驶入楼层间通道的时刻，也可以确定车辆在处于停车位姿之前最后一次驶出楼层间通道的时刻，由此可以确定第一时长。例如，执行该方法的装置需要从其他装置获取俯仰角信息时，该其他装置可以在确定该第一时长后，向该装置提供车辆在该时段内的俯仰角信息，从而可以降低二者间通信的数据量。
结合第五方面，在第五方面的某些实现方式中，根据该第一时长内的俯仰角信息，确定停车楼层，可以包括：根据该第一时长内的俯仰角信息，确定车辆通过的楼层间通道的个数；根据该车辆所通过的楼层间通道的个数，确定该停车楼层。例如，根据该时段内的俯仰角信息，可以确定楼层的相对变化，比如，在车辆的俯仰角大于或等于角度阈值时，可以确定车辆位于楼层间通道，可以根据车辆所途经的楼层间通道的个数，确定楼层的相对变化，又比如，可以将车辆上坡时通过的通道确定为正向通过该通道，所途经的楼层间通道的个数可以记为+1，可以将车辆下坡时通过的通道确定为负向通过该通道，所途经的楼层间通道的个数可以记为-1，从而确定停车楼层；又例如，可以确定车辆的俯仰角的变化值的绝对值大于或等于角度变化阈值的次数，从而可以根据俯仰角的变化确定停车楼层。
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，使得可以适用于低配置的车型，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，对于电动车、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。
第六方面，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。
结合第六方面，在第六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。
第七方面，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/或目标车位等，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目标车位。
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。
第八方面，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。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目标车位，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。
结合第八方面，在第八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目标车位所处区域；根据车位指示信息和第一车位图像，确定目标车位的标识。
结合第八方面，在第八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目标车位在第一车位图像中的占比；该根据该第一车位图像，确定该目标车位的标识，包括；根据该第一车位图像和该第一比例，确定该目标车位的标识。
结合第八方面，在第八方面的某些实现方式中，该根据该第一车位图像，确定该目标车位的标识，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，确定该目标车位的标识。
结合第八方面，在第八方面的某些实现方式中，该车辆包括车载显示器，该方法还包括：控制该车载显示器显示该目标车位的图像。
结合第八方面，在第八方面的某些实现方式中，该方法还包括：发送第一消息，该第一消息用于指示该目标车位。
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。
第九方面，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停车位置；显示第一界面，该第一界面可以用于指示停车位置。
示例性地，该车辆位置信息可以用于指示目标车位、停车区域、停车楼层、第一经纬度信息中的至少一项。例如，手机等终端设备可以获取用于指示目标车位的目标车位指示信息；可以获取用于指示停车区域的停车区域指示信息；所获取的车辆位置信息也可以既用于指示目标车位，也用于指示停车区域，也就是说，目标车位指示信息和停车区域指示信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，以上指示目标车位、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停车位置相关内容，使得用户可以获知停车位置，便于用户寻车，可以提高用户的使用体验。
第十方面，提供了一种确定停车楼层的装置，该装置包括：获取模块，用于获取周边环境信息；处理模块，用于根据该周边环境信息确定车辆途经的第一路口；可以根据车辆途经的第一路口，确定停车楼层。
结合第十方面，在第十方面的某些实现方式中，处理模块，具体可以用于：根据该车辆途经的该第一路口，可以确定楼层的相对变化；根据楼层的相对变化确定停车楼层。
结合第十方面，在第十方面的某些实现方式中，处理模块，还可以用于：在确定车辆位于楼层间通道时，可以启动第二传感器，可以控制该第二传感器采集周边环境信息，该周边环境信息，可以用于确定该第一路口。
结合第十方面，在第十方面的某些实现方式中，该装置还可以包括：发送模块，用于在确定停车楼层之后，发送停车楼层指示消息，该停车楼层指示消息可以用于指示停车楼层。
第十一方面，提供了一种确定停车楼层的装置，该装置包括：获取模块，用于获取第一通道的图像，该第一通道可以包括车辆所通过的楼层间通道；处理模块，用于根据该第一通道的图像，确定通道指引标识；根据通道指引标识，确定停车楼层。
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：在确定车辆位于楼层间通道时，可以启动第二传感器，可以控制该第二传感器采集周边环境信息，该周边环境信息，可以用于确定该第一路口。
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，用于在确定 停车楼层之后，发送停车楼层指示消息，该停车楼层指示消息可以用于指示停车楼层。
第十二方面，提供了一种确定停车楼层的装置，该装置包括：获取模块，用于获取第一时长内的俯仰角信息，该第一时长的起始时刻可以早于或等于车辆首次驶入楼层间通道的时刻，该第一时长的结束时刻可以等于或晚于车辆驶入停车楼层的时刻；处理模块，用于根据该第一时长内的俯仰角信息，确定停车楼层。
结合第十二方面，在第十二方面的某些实现方式中，处理模块，具体可以用于：根据该第一时长内的俯仰角信息，确定车辆通过的楼层间通道的个数；根据该车辆所通过的楼层间通道的个数，确定该停车楼层。
第十三方面，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。
结合第十三方面，在第十三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。
第十四方面，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
结合第十四方面，在第十四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。
第十五方面，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，确定该目标车位的标识。
结合第十五方面，在第十五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目标车位所处区域；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，确定目标车位的标识。
结合第十五方面，在第九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目标车位在该第一车位图像中的占比；处理模块具体可以用于，根据第一车位图像和该第一比例，确定目标车位的标识。
结合第十五方面，在第十五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，确定该目标车位的标识。
结合第十五方面，在第十五方面的某些实现方式中，该车辆可以包括车载显示器，该处理模块，还可以用于控制车载显示器显示目标车位的图像。
结合第十五方面，在第十五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目标车位。
一些可能的实现方式中，第二方面、第十方面至第十六方面，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)或车等装置。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。
第十六方面，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位置。
结合第十六方面，在第十六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、云服务设备、电视等装置中的一个或多个。
第十七方面，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、第三方面至第九方面中的任一方面，及其任一可能的实现方式中的方法。
第十八方面，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、第三方面至第九方面中的任一方面，及其任一可能的实现方式 中的方法。
第十九方面，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、第三方面至第九方面中的任一方面，及其任一可能的实现方式中的方法。
第二十方面，提供了一种系统，该系统可以包括车辆和电子设备，该车辆可以包括上述第二方面、第十方面至第十六方面，及其任一方面中任一可能的实现方式中的装置；该车辆可以用于发送第一消息，该第一消息可以用于指示车辆的停车位置信息；该电子设备可以用于接收该第一消息，根据该第一消息，控制显示车辆的停车位置。
结合第二十方面，在第二十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，可以用于请求该车辆的停车位置信息；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，发送该第一消息。
本申请实施例提供了一种确定停车位置的方法和装置，在车辆进入停车场时，能够根据车辆所处的位置，获取车辆的运动状态信息和/或周边环境信息，进而确定车辆在停车场内所在的区域，能够避免停车场建筑结构等周边物体等对于GNSS信号遮挡，而无法确定车辆位置的情形，有利于用户无感获知车辆的停车位置，能够提高用户寻车的使用体验。能够根据GNSS信号的信号质量，灵活地确定停车位置定位模式，有利于实现不同场景下对于停车定位方案的需求。通过车辆所途径的第一路口的个数，确定停车楼层，能够降低室内停车场的建筑结构等对识别停车楼层的影响，可以适用于更广泛的场景，能够提高所确定的停车楼层的准确性。能够结合通道指引标识确定停车楼层，能够降低识别停车楼层的标识的难度，也可以避免停车场建筑结构对识别停车楼层的影响，从而可以提高确定停车楼层的准确度。能够根据车辆的俯仰角信息，确定车辆的停车楼层，能够适用于感知传感器数量较少、配置较低的车型，由于不依赖于对于外部环境信息的采集，能够降低传感器的资源消耗。能够根据停车分区的标志物的图像，确定停车分区，能够降低位于其他物体的标识对于识别停车分区的干扰，能够提高确定停车分区的准确性，也可以节省用于识别停车分区的过程中的开销。通过结合区域关键字和第一车位的标识，确定停车分区，能够提高所确定的停车分区的准确性。在确定用户存在停车意图时，获取该车辆的运动状态信息和/或周边环境数据，由此可以通过识别停车的时机，可以减少所获取的环境数据中的无效信息，提高所确定的停车位置的准确性，也可以降低用于确定停车位置的资源开销。能够发送第一消息，能够使得手机等终端设备获知车辆所在的区域，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位置拍照的情况下，获知该车辆所在停车位置，可以提高用户体验。通过在确定车辆的座舱内无用户时，发送该第一消息，可以降低发送该第一消息的频次，从而可以节省由于通信所使用的流量。通过在第一状态参数满足预设条件时进行停车场标志物识别，由此，在确定车辆是否进入停车场的过程中，可以降低对于感知传感器的依赖，能够降低传感器的功耗，也有利于在确定车辆处于停车场区域后启动相应的功能。
附图说明
图1是本申请实施例提供的车辆100的一个功能框图示意。
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楼层通道类型的示意图。
图6是本申请实施例提供的一种车辆停车的场景的示意图。
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楼层间的通道的场景示意图。
图11是本申请实施例提供的一种车辆智能定位的系统架构的示意图。
图12是本申请实施例提供的一种确定停车楼层的方法的示意性流程图。
图13是本申请实施例所提供的一种车辆俯仰角信息的示意图。
图14是本申请实施例提供的另一种确定停车楼层的方法的示意性流程图。
图15是本申请实施例提供的另一种确定停车楼层的方法的示意性流程图。
图16是本申请实施例提供的一种楼层间通道与楼层的连接场景的示意图。
图17是本申请实施例提供的一种确定交通工具驶入停车场的方法的示例性流程图。
图18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19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20是本申请实施例提供的一种停车位的图像的示意图。
图21是本申请实施例提供的一种交互界面的示意图。
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意性流程图。
图23是本申请实施例提供的另一种交互界面的示意图。
图24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25是本申请实施例提供的一种交互界面的示意图。
图26示出了本申请实施例提供的一组图形用户界面。
图27示出了本申请实施例提供的另一组图形用户界面。
图28是本申请实施例提供的一种识别停车区域的方法示例性流程图。
图29是本申请实施例提供的一种确定停车位置的方法的示意性流程图。
图30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31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32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33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34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35是本申请实施例提供的一种确定车辆位置的装置的结构示意图。
图36是本申请实施例提供的一种确定停车楼层的装置的示意性流程图。
图37是本申请实施例提供的另一种确定停车楼层的装置的示意图。
图38为本申请实施例提供的一种装置的结构示例图。
图39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，车辆可以设置有包括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。
为了便于解释和说明，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。示例性地，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中地面中的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。
应理解，以上车辆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。
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楼层通道类型的示意图。其中，图5中的(a)、(b)、(c)、(d)和(e)分别示出了几种不同的楼层间行车通道的类型。如图5中的(a)所示，车辆从楼层503经通道505行驶至楼层501的过程中，其行驶方向可以发生变化；如图5中的(b)所示，车辆从楼层505经通道507行驶至楼层501的过程中，其行驶方向可以不发生变化；图5中的(c)至(e)类似。
为了便于解释和说明，以下结合图4对图5进行说明，例如，图4中的楼层350和楼层360可以为相邻的两个楼层，且楼层350高于楼层360，参见图5，其中楼层501可以是图4中的楼层350，楼层503可以是楼层360，通道505、通道507、通道509、通道511等可以是连接相邻的两个楼层的通道，车辆可以通过该通道由一个楼层行驶至另一个楼层，车辆从楼层间通道驶入楼层时，会经过路口的场景；又例如，在楼层350和楼层360之外，还可以有其他楼层，多个楼层间的连接通道，可以如图5中的(e)所示，也可以是如图5中的(a)至(d)所示通道的结合，还可以是其他形式的通道。
应理解，图5所示通道类型只是示例，以便于说明，还可以有其他类型的通道，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6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6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6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可以驶入并停止于车位404。在实际停车过程中，当车辆完全驶入车位区域的范围之内时，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，由于摄像头的安装位置和/或拍摄范围的限制，如图6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“A109”，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“A105”。
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。
一些可能的实现方式中，图4所示停车场景可以与图6所示停车场景结合，比如，图6可以是图4所示楼层350部分区域的俯视视角，相应地，图6的车辆402可以为图4的车辆302，图6的车位404可以为图4的车位304。
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7中的(c)为水平车位，图7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，可以是以三维空间标注的方式只是该车位的标识。应理解，以上关于车位与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，箭头可以用于指示行进方向，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用于停车的区域，比如虚线所示区域716、区域717，区域716可以包括车位704、车位706、车位708在内的多个车位，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，该立柱可以包括区域717所在停车区域的标识，区域716和区域717可以属于同一个停车区域，也就是说，可以属于同一个停车区域的标识所指示的停车区域，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区域，不同的停车区域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“A106”(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。
示例性地，图3、图4、图5、图6可以与图8结合，比如，图8可以是图4所示楼层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302，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中的道路752、道路762可以是图5所示楼层间的通道505、507、509等的一部分，也可以是图3中所示停车场出入口所在道路的一部分。
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所在停车区域的标识。类似地，图9中的(b)示出了立柱850，图9中的(c)示出了立柱860，比如，该立柱850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717所在停车区域的标识，立柱860可以是图4、图6或图8所示多个立柱中的任一立柱。
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。
示例性地，立柱也可以具有其他标识。例如，如图9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；又例如，如图9中的(d)所示，立柱860可以包括用于楼层的标识879，该标识可以用于指示该立柱所在楼层。
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。
示例性地，图10是本申请实施例提供的一种楼层间的通道的场景示意图。其中，地面882可以为该通道880的地面，墙壁884可以为该通道880的任意一侧的侧壁，该通道的侧壁884可以包括标识886、标识888等，标识886可以用于指示车辆即将达到的楼层，标识888可以用于表示该通道所指示的车辆的行进方向，比如，车辆沿标识888所指示的方向行驶时，车辆驶出该通道后，车辆将到达标识886所指示的楼层。
示例性地，楼层间的通道可以是单向行驶通道，也可以是双向行驶通道。例如，楼层间的通道为双向行驶通道时，比如，通道的侧壁可以包括两个指示的行进方向和/或对应的根据该指示方向将到达的楼层，结合车辆的行进方向，可以确定该车辆将到达的楼层。
应理解，以上关于楼层间的通道的示例只是举例以便于说明，本申请实施例对此不做限定。
一些可能的场景中，图3、图5、图8可以与图10所示场景结合，比如，图10所示的通道880可以是图5所示通道505、通道507等，也可以对应于图8所示道路752、道路762等，又比如，经通道880，车辆可以由楼层350行驶至楼层360等。
示例性地，图11是本申请实施例提供的一种车辆智能定位的系统架构的示意图。该方法可以包括以下部分或全部步骤。
S1110，获取GNSS信号。
示例性地，车辆可以从全球卫星导航系统，获取该GNSS信号，根据该GNSS信号，可以确定当前位置。例如，根据接收的GPS信号、北斗信号等，比如该信息可以包括经纬度信息、海拔信息等， 由此可以确定车辆的位置，进一步地，可以结合IMU采集的数据，通过融合处理，确定车辆的位置。
S1130，根据GNSS信号的信号质量，确定停车位置定位模式。
示例性地，可以使用一种或多种参数评价该GNSS信号的信号质量。例如，可以使用信号强度表征GNSS信号的信号质量，也可以使用GNSS状态表征该信号的信号质量，本申请实施例对此不做限定。
其中，该定位模式可以包括精准定位模式或推理定位模式，其中，精准定位模式可以基于该GNSS信号确定停车位置，推理定位模式可以根据车辆的状态信息和/或周边环境信息，确定停车位置，比如，可以根据车辆状态信息和/或周边环境信息，确定停车楼层信息、停车区域信息、停车位中的至少一项。该精准定位模式也可以称为第一定位模式，该推理定位模式也可以称为第二定位模式。
示例性地，在开阔道路、室外停车场等场景中，由于周边环境不会遮挡GNSS信号，GNSS信号的信号质量较好，比如，在该场景下，GNSS信号的信号质量可以大于或等于第一阈值，由此可以根据GNSS信号，确定车辆的停车位置。例如，当使用信号强度表征GNSS信号的信号质量时，比如，该第一阈值可以是-130dBm等；又例如，若当前天线视野上方卫星数不低于5等时，可以认为该GNSS信号有效，可以根据该GNSS信号确定车辆所在位置；再例如，当以信号强度表征GNSS信号的信号质量时，比如，在连续时长(比如5秒)内GNSS信号的信号强度内均大于或等于-125dBm，可以认为该GNSS信号的信号质量大于或等于第一阈值，也就是说，第一阈值也可以是信号强度阈值与持续时长的结合。
应理解，以上关于第一阈值的描述只是示例，本申请实施例对此不做限定。
示例性地，在GNSS信号的信号质量大于或等于第一阈值时，可以确定停车位置定位模式为第一定位模式；或，在GNSS信号的信号质量小于或等于第一阈值时，可以确定停车位置定位模式为第二定位模式。
一些可能的实现方式中，GNSS信号可以按一定频率更新，在车辆停车时，可以根据该GNSS信号，确定停车位置。例如，以GNSS信号按每秒1次的频率更新为例，车辆在停车过程中，比如，接收GNSS信号时，车辆处于停车中，车辆在处于停车位姿之后，未接收到更新的GNSS信号时，可以根据最新获取的GNSS信号，结合车辆的速度和/或加速度信息，确定车辆处于停车位置时的经纬度信息，比如，可以结合最新获取的GNSS信号中的经纬度信息，结合IMU所采集的数据，确定车辆处于停车姿态时的所在位置的经纬度等，从而确定停车位置；又例如，GNSS信号的更新频次大于或等于预设阈值时，在车辆停车过程中至处于停车位姿可以通过GNSS信号获取经纬度信息，由于车辆可以以较低的车速进行停车，由此在车辆处于停车位姿之前所获取的最新的GNSS信号，也可以用于指示车辆的停车位置；再例如，部分场景中，车辆行驶时GNSS信号可能短暂被遮挡，可能会影响所获取的GNSS信号的更新频率，在所获取的GNSS信号的更新频率大于或等于预设阈值(比如0.5赫兹)时，且GNSS信号的信号质量大于或等于第一阈值时，在确定车辆驶入目标车位、检测到用户拉起手刹、车辆下电等情形时，可以根据所获取的最新的GNSS信号确定车辆的停车位置，从而忽略该GNSS信号短时间被遮挡的影响。
一些可能的实现方式中，在确定停车位置之后，可以发送第一消息，该第一消息可以用于指示停车位置。示例性地，在通过第一模式工作时，该第一消息可以用于指示该根据GNSS信号所确定的停车位置，或，在通过第二定位模式工作时，该第一消息可以用于指示停车楼层、停车区域、停车楼层中的至少一项。相应地，终端设备(比如手机等)和/或云服务器，可以获取该第一消息，从而可以获知该停车位置。例如，第一消息可以通过指示第一经纬度信息，指示根据该GNSS信号所确定的停车位置，该第一经纬度信息可以用于指示停车位置的经纬度；又例如，第一消息也可以通过指示第一经纬度信息、第一海拔信息，指示该根据该GNSS信号所确定的停车位置，该第一海拔信息可以用于指示停车位置的海拔高度。
应理解，可以从该车辆获取该第一消息，也可以通过网络设备或其他设备获取该第一消息，本申请实施例对此不做限定。
一些可能的实现方式中，所获取的GNSS信号的信号质量大于或等于第一阈值，车辆可以通过第一定位模式确定车辆停止位置，虽然根据GNSS信号中的信息可以便于通过地图进行定位和/或导航，但是对用户而言，可能无法根据该信息直观地获知车辆所在位置，由此，车辆停车过程中，在检测到 停车操作(比如车辆档位调整为倒挡等)时，可以获取目标车位的图像，并由此确定目标车位的标识，进一步地，在确定目标车位的标识之后，可以发送目标车位指示信息，相应地，终端设备和/或云服务器，可以获取该目标车位指示信息，从而可以获知该目标车位的标识。
为了便于解释和说明，在通过第一定位模式工作时，本申请实施例后续，将用于指示车辆停车位置的经纬度信息，称为第一经纬度信息。
示例性地，车辆处于室内停车场、高架桥下等环境中，由于周边物体、建筑等对GNSS信号的遮挡，可能导致该场景下GNSS信号的信号质量较差，即GNSS信号的信号质量可能会低于第一阈值，根据该质量较差的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。由此，可以根据车辆处于停车状态时的停车楼层信息、停车区域信息和停车位中的至少一项，确定该车辆的停车位置。例如，对于仅有一层的室内停车场等，可以通过车辆所在的停车区域和/或停车位，指示停车位置；又例如，对于包括多个停车楼层的停车场，可以通过停车楼层、停车区域、停车位指示停车位置；再例如，在该包括多个停车楼层的停车场，不涉及停车区域的划分时，可以通过停车楼层、停车位指示停车位置；再例如，在所在停车位无标识时，可以通过停车楼层、停车区域指示停车位置。
在一些可能的实现方式中，在确定停车位置之后，可以发送第一消息，其中，在通过第一定位模式工作时，该第一消息可以用于指示第一经纬度信息，或，在通过第二定位模式工作时，该第一消息可以用于指示停车区域、目标车位、停车楼层中的至少一项。
本申请实施例中，通过确定GNSS信号的信号质量，可以根据不同场景灵活确定停车位置定位模式，有利于实现不同场景下对停车定位方案的需求，从而可以满足当停车位置位于室外停车场等GNSS信号较好的场景时，可以以较低的资源消耗确定的停车位置，并且能够便于用户根据地图快速寻车，还可以满足当停车位置位于室内停车场等GNSS信号较好的场景时，通过指示停车楼层、停车区域、停车位等，可以以便于用户快速寻车，从而可以提高用户的使用体验。
示例性地，可以根据车辆在停车状态前第一时长内的运动状态参数，确定车辆处于停车状态时的停车楼层信息。为了便于解释和说明，以下结合图4、图5进行描述。例如，如图4所示停车场景，由于建筑物对GNSS信号的遮挡，车辆302在驶入该停车场后，其所获取的GNSS信号的信号质量较差，无法根据GNSS信号确定车辆所在位置，由此在确定车辆进入室内停车场后，可以根据车辆在进入停车场至处于停车位姿期间的车辆运动状态信息，比如，可以根据IMU所获取的加速度参数和/或角加速度参数等，确定车辆的行驶轨迹，比如，车辆在进入停车场后，从图5所示楼层503经通道505行驶至楼层501，并在该楼层501停止在如图4所示的车位304，根据车辆的行驶轨迹，可以确定车辆的攀升/下降的高度，可以基于驶入停车场前所获取的GPS信号确定停车场入口所在基准楼层，根据车辆攀升/下降的高度，确定楼层的相对变化值，从而可以确定车辆所在楼层。
应理解，以上确定车辆所在楼层的方式只是示例。
在实际场景中，对于不同的停车场而言，楼层间的层高可能会有较大差别，根据车辆的攀升/下降高度，确定停车楼层，可能会存在较大的误差。由此，本申请实施例提供了一种确定停车楼层的方法，通过车辆的俯仰角的变化，确定停车楼层，可以避免由于停车场建筑结构的不同而导致的识别误差，可以提高所确定的停车楼层的准确度。
示例性地，图12是本申请实施例提供的一种确定停车楼层的方法的示意性流程图。该方法1200可以包括以下步骤：
S1210，获取车辆的俯仰角信息。
示例性地，可以在车辆停车之前实时获取车辆的俯仰角信息。例如，可以实时获取IMU等传感器所采集的数据，根据该数据，确定实时的俯仰角数据。示例性地，获取俯仰角信息的方式可以参照相关技术，为了简洁，此处不再赘述。
示例性地，为了便于解释和说明，图13是本申请实施例所提供的一种车辆俯仰角信息的示意图，以下将结合图3至图10对图13进行说明，其中，虚线可以表示俯仰角随时间的变化。例如，0时刻，车辆位于停车场区域之外，t0时刻，驶入停车场，比如车辆通过道闸等，t1时刻，由于对于建筑物对于GNSS信号的遮挡，车辆所获取的GNSS信号小于或等于第一阈值，t2时刻，车辆驶入如图10所示通道，比如，该通道可以为通道507，t3时刻车辆驶出该通道，并经入口338驶入楼层360，t4时刻，车辆经出口340驶出楼层360，并驶入楼层间通道，t5时刻，车辆驶入楼层350，t6时刻，车辆所在位 置如车辆302所在位置，此时用户可以通过启用辅助泊车、自动泊车功能，或将档位调整至倒车档，随后将车辆驶入目标车位304，t7时刻车辆位于停车位姿，t8时刻与t9时刻之间，俯仰角大于角度阈值，或称为俯仰角的绝对值大于该角度阈值。应理解，以上关于图13的描述仅为示例，本申请实施例对此不做限定。
示例性地，可以获取第一时长内车辆的俯仰角信息。例如，在检测到车辆驶入停车场时，可以开始获取车辆的俯仰角信息，比如，该第一时长的起始时刻可以为图13中的t0时刻，从而可以获取如图13中的t0时刻之后的俯仰角信息等；又例如，在确定GNSS信号的信号质量小于或等于第一阈值时，可以开始实时获取车辆的俯仰角信息，比如，该第一时长的起始时刻可以为图13中的t1时刻，从而可以获取如图13中的t1时刻之后的俯仰角信息等；又比如，在确定车辆驶入停车场、GNSS信号小于或等于第一阈值时，可以启动感知传感器并获取其所采集的周边环境信息，在确定车辆将首次驶入楼层间通道时，可以开始获取车辆的俯仰角信息，比如，该第一时长的起始时刻可以为图13中的t2时刻，可以获取如图13中的t2时刻之后的俯仰角信息；又比如，可以获取车辆驶入目标车位的时刻之前的车辆的俯仰角信息，比如，该第一时长的结束时刻可以为图13中的t7时刻；又例如，该第一时长的结束时刻可以为图13中的t6、t5时刻等。
示例性地，根据车辆实时的俯仰角信息，可以确定车辆首次驶入楼层间通道的时刻，也可以确定车辆在处于停车位姿之前最后一次驶出楼层间通道的时刻，由此可以确定第一时长。例如，执行该方法的装置需要从其他装置获取俯仰角信息时，该其他装置可以在确定该第一时长后，向该装置提供车辆在该时段内的俯仰角信息，从而可以降低二者间通信的数据量。
应理解，以上关于第一时长的描述只是示例，本申请实施例对此不做限定。
S1220，根据车辆的俯仰角信息，确定停车楼层。
示例性地，根据车辆的俯仰角信息，可以确定车辆通过的楼层间通道的个数。例如，如图13所示，根据所获取的车辆的俯仰角信息，在车辆的俯仰角的大于或等于角度阈值(比如15、18度等)时，可以认为车辆位于楼层间通道，比如，可以确定车辆在t2与t3时刻之间位于楼层间通道，从而可以根据车辆的俯仰角信息确定车辆所通过的楼层间通道的个数，以此可以楼层的相对变化值；又例如，俯仰角为正时，可以认为车辆在上坡，俯仰角为负时，可以认为车辆在下坡，比如车辆由如图5楼层501经通道507行驶至楼层503时，俯仰角为负，并由楼层503再次经通道507行驶至楼层501时，俯仰角为正，该整个过程可以认为车辆所通过的楼层间通道的个数为零；又例如，在车辆的俯仰角大于或等于角度阈值，且持续时间大于或等于预设时间阈值(比如3s)时，可以认为车辆驶入楼层间通道，比如，如图13所示，若t2与t3间的时长小于或等于该时间阈值时，可以认为车辆未驶入楼层间通道，从而可以减少地面减速带等装置的干扰，提高所确定的楼层的准确度。
示例性地，根据所通过的楼层间通道的个数，可以确定停车楼层。例如，根据车辆所通过的楼层间通道的个数，可以确定楼层的相对变化，进一步地，结合基准楼层，可以确定停车楼层；比如，可以将车辆驶入停车场之前车辆所在楼层确定为基准楼层，可以根据GNSS信号中指示的位置信息确定基准楼层，以及通过其他方式确定基准楼层，从而可以根据楼层的相对变化，确定停车楼层。应理解，确定基准楼层方法可以参照相关技术等。
应理解，以上确定停车楼层的方法仅为示例，以便于说明，本申请实施例对此不做限定。
本申请实施例中，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，使得可以适用于低配置的车型，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，对于电动车、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。
在实际场景中，楼层间通道的可能存在多种形式，仅根据车辆俯仰角信息确定停车楼层，比如车辆经过如图5中的(a)、(d)所示的楼层间通道，以及车辆经如图5中的(e)所示通道由楼层513行驶至楼层503时，可能会导致较大的误差。而且，由于停车楼层内空间较大，且可能会存在较多的标识，由此根据停车楼层的图像，可能无法筛选得到停车楼层的标识。由此，本申请实施例提供了另一种确定停车楼层的方法，通过车辆所通过的楼层间通道的图像，可以确定与该通道相连的楼层的标识，从而可以确定停车楼层，通过该方法可以避免由于不同的通道类型所造成的停车楼层的识别错误，也可以降低筛选停车楼层的标识的难度，可以提高识别停车楼层的准确度。
示例性地，图14是本申请实施例提供的另一种确定停车楼层的方法的示意性流程图。该方法可以包括以下步骤：
S1410，获取第一通道的图像。
示例性地，该第一通道可以包括车辆所通过的楼层间通道。例如，可以根据感知传感器所采集的数据，比如，根据摄像头传感器所采集的图像、雷达传感器所采集的数据，确定车辆驶入通道时，可以获取该通道的图像；又例如，可以根据车辆的俯仰角信息、车辆的纵向加速度的信息等车辆运动状态信息，确定车辆驶入楼层间通道，从而可以启动摄像头传感器采集该通道的图像，比如，可以启动并控制车辆的侧视摄像头采集该楼层间通道的墙壁的图像，又比如可以通过前视摄像头、后视摄像头、全景影像系统获取该楼层间通道的路面的图像，又比如，可以通过副驾侧摄像头传感器获取位于车辆副驾侧的通道内墙的图像。
应理解，以上获取第一通道的图像的方式只是示例以便于说明，本申请对此不做限定。
S1420，根据该第一通道的图像，确定通道指引标识。
示例性地，该通道可以包括通道指引标识。例如，通道指引标识可以位于该通道的内壁，如图10所示，该楼层间通道的内壁可以包括标识886和标识888，根据该第一通道的图像，可以通过光学字符识别等方式，识别得到该标识的字样分别为“>>>”、“通往XXX层”；又例如，该通道标识也可以位于该通道的地面。
S1430，根据通道指引标识，确定停车楼层。
示例性地，根据通道指引标识，可以确定楼层关键字，从而可以确定停车楼层标识。例如，通道指引标识可以为“>>>通往地下一层>>>”、“→通往B1→”、“消防通道→”，在确定通道指引标识包括楼层关键字(比如“层”、“B”等)，且通道指引标识与车辆行驶方向匹配时，由此可以确定车辆将驶入的楼层的标识；又例如，鉴于车辆较小概率在楼层间通道内倒车行驶，由此根据第一图像可以确定通道指引标识所在的位置，结合楼层关键字，确定楼层标识，比如，根据第一通道的图像，可以确定位于车辆副驾侧的通道内墙上的通道指引标识，通过识别该通道指引标识中的楼层关键字，可以确定车辆将驶入的楼层的标识；又例如，在车辆行驶至目标车位之前通过多个楼层间通道时，根据该多个通道的图像可以确定该多个楼层的标识，比如，可以基于获取该多个楼层的标识的时间顺序，也可以结合车辆的俯仰角的变化，确定停车楼层的标识。
应理解，以上确定停车楼层的方法只是示例，以便于说明，本申请实施例对此不做限定。
本申请实施例中，根据车辆所通过的楼层间通道的通道指引标识，确定停车楼层的标识，可以提高所确定的停车楼层的准确度。
在实际场景中，由于部分楼层间通道内可能不会包括通道指引标识，或者所包括的通道指引标识中也可能不包括楼层关键字。由此，本申请实施例提供了另一种确定停车楼层的方法，通过确定车辆途经的第一路口的个数，确定停车楼层，可以适用于更广泛的场景，可以提高所确定的停车楼层的准确度。
示例性地，图15是本申请实施例提供的另一种确定停车楼层的方法的示意性流程图。该方法可以包括以下步骤：
S1510，根据周边环境信息，确定所述车辆途经的第一路口。
示例性地，该第一楼层可以是当车辆楼层间通道行驶时，在车辆行进方向与该楼层间通道相连接的楼层，该第一路口可以指该楼层与该通道相连的路口。也就是说，该第一路口可以是该楼层间通道的出口。一些可能的实现方式中，该第一路口也可以是楼层间通道的入口。
示例性地，为了便于理解和说明，图16是本申请实施例提供的一种楼层间通道与楼层的连接场景的示意图。其中，图16中的(a)示出了楼层间通道与楼层之间的一种路口的俯视图，车辆从该通道驶出时，该路口可以是该十字路口，图16中的(b)示出了楼层间通道与楼层之间的另一种路口的俯视图，车辆从该通道驶出时，该路口可以是T字路口，该通道也可以位于T字路口的其他方向，图16中的(a)、(b)所示楼层间通道除俯视图所示路面外，可以具有侧面的墙壁，也可以不具有侧面的墙壁；图16中的(c)示出了一种楼层间通道的出/入口的正视图，该通道的截面可以是方形，图16中的(d)示出了另一种楼层间通道的出/入口的正视图，该通道的截面可以是拱形，图16中的(c)、(d)中的实线部分，也可以理解为，楼层间通道的内壁的轮廓的形状。
示例性地，根据感知传感器所采集的周边环境信息，可以确定该第一路口。例如，车辆在楼层间通道内行驶时，可以根据雷达传感器、摄像头传感器等所采集的数据，确定该通道在车辆行进方向一侧的出入口，比如，如图16中的(c)、(d)所示，从而可以确定第一路口；又例如，车辆在楼层间通道内行驶时，可以通过摄像头传感器获取周边环境信息，在检测到交叉路口的特征，比如，如图16中的(a)、(b)所示时，可以确定第一路口；又例如，车辆在驶入停车场直至行驶至目标车位的过程中，可以实时检测车辆行驶过程中所途经的多个路口，并记录车辆通过该多个路口的时段，比如，如图5中的(a)所示，车辆由楼层501经通道511行驶至503时，可以根据车辆俯仰角信息，可以确定俯仰角变化值大于或等于角度阈值(比如15度等)的时段，在该时段可以与车辆通过路口的时段匹配时，可以将该路口确定为与楼层间通道相关的路口，以第一路口为通道的出口为例，进一步地，可以从与楼层间通道相关的路口中，筛除车辆驶入该通道时所途经的路口，从而由此可以确定第一路口。
应理解，关于路口识别、通道出入口识别的方式可以参照相关技术。
S1520，根据车辆所途经的第一路口，可以确定停车楼层。
示例性地，根据所确定的第一路口，可以确定楼层的相对变化。例如，可以将车辆上坡后所途经的第一路口，定义为正向通过的第一路口，可以将车辆下坡后所途经的第一路口定义为负向通过第一路口，或者也可以是其他定义方式，从而可以确定第一时长内所途经的第一路口，确定楼层的相对变化；又例如，根据所识别的第一路口，可以确定车辆通过该第一路口的时刻信息，比如，根据车辆的俯仰角信息也可以确定车辆途经通道的出入口的时刻，可以将二者相匹配，从而确定楼层的相对变化。
应理解，以上关于确定停车楼层的方法只是举例以便于说明，本申请实施例对此不做限定。
一些可能的实现方式中，在确定车辆位于楼层间通道时，可以启动第二传感器，可以控制该第二传感器采集周边环境信息，该周边环境信息，可以用于确定该第一路口。例如，根据车辆的俯仰角信息、车辆纵向加速度等车辆运动状态信息，可以确定车辆位于楼层间通道，在确定车辆位于楼层间通道时，启动摄像头传感器和/或雷达传感器，比如，可以启动用于采集车辆行进方向一侧的环境信息的摄像头传感器和/或雷达传感器，并控制该一个或多个传感器采集周边环境信息，从而可以由此确定第一路口，从而可以降低摄像头传感器、雷达传感器等感知类传感器的资源消耗。
一些可能的实现方式中，在确定停车楼层之后，可以发送停车楼层指示消息，该停车楼层指示消息可以用于指示停车楼层。例如，通过发送停车楼层指示消息，使得用户可以在手机等终端设备获知该停车楼层，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，发送停车楼层指示消息，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停车楼层，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楼层拍照的情况下，也可以获知该停车楼层，从而可以提高用户的使用体验；又例如，在接收到停车楼层指示消息后，用户可以对该信息予以应答，比如，在用户予以肯定应答时，可以将该停车楼层的信息保存在手机等终端设备或对应的服务器中。应理解，以上关于停车楼层指示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，通过确定车辆途经的第一路口的个数，确定停车楼层，可以降低室内停车场的建筑结构等对识别停车楼层的影响，可以适用于更广泛的场景，能够提高所确定的停车楼层的准确性。
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17是本申请实施例提供的一种确定交通工具驶入停车场的方法的示例性流程图，该 方法1700可以包括以下步骤。
S1710，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信息的描述只是示例，以便于说明，本申请实施对此不做限定。
S1720，在该第一状态参数满足预设条件时，进行停车场标志物检测。
示例性地，该预设条件可以与第一状态参数相对应。例如，第一状态参数包括经GNSS信号的信号质量时，该预设阈值可以包括与该GNSS信号的信号强度有关的阈值，比如，GNSS信号的信号强度需大于或等于信号强度阈值(比如-124dBm等)。
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，该周边环境信息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信号的信号质量满足预设条件时，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满足预设条件时，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，在该第一状态参数满足预设条件时，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信息，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满足预设条件时，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信息；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信息进行特征提取等，检测是否存在停车场标志物。应理解，本申请实施例对检测停车场标志物的方式不做限定。
S1730，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，在周边环境信息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，可以启动一个或多个感知传感器，控制该传感器采集周边环境信息，根据该周边环境信息检测停车区域的标志物。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，以获取周边环境信息，比如，该周边环境信息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，可以触发自动泊车系统启用以实现自动泊车功能，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，实现自动泊车，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，在第一状态参数满足预设条件时，获取周边环境信息，可以降低对传感器采集周边环境信息的依赖，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18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1800可以包括以下部分或全部步骤。
S1810，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。
S1820，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”、“启动自动泊车”、“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“自动泊车”的虚拟按键、可以按压车舱内“自动泊车”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，该周边环境信息可以是摄像头和/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信息，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信息。
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。
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，自动泊车辅助(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泊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信息，可以节省用于处理周边环境信息的开销。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19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1900包括以下部分或全部步骤。
S1910，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6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6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6中的标识412所示的字样“A107”，可能是图6中的标识405所示字样“A106”的部分(比如字样“106”、“A10”等)，等等，其中，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，但是对于仅包括字样“A106”的部分内容的字样(比如“106”)，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，比如字样“A10”和“106”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；又例如，在车辆具有透明底盘的功能时，对于目标车位的图像的获取，可以不受限于车辆的位置，从而可以便于对于目标车位的图像的获取，通过该透明底盘的功能，可以实现车辆底盘的透视化，比如，在车辆行驶过程中，可以根据全景影像系统所采集的数据，可以通过图像拼接等方式实现车辆底盘的透视化。
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6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，车辆可以启用自动泊车、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，在使用自动泊车、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20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20中的(a)可以是图6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器(比如中控屏等)显示，该显示界面还可以包括标记2051，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20中的(b)可以是根据图20中(a)的图像所确定的空闲停车位的示意图，其中区域2053可以表示车位406的部分区域，区域2055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20中的(b)中的区域2053和区域2055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。
S1920，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6中的标识404所示字样“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6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6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“A106”、“A107”等)，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，文本“A106”所对应的轨迹与车辆402的行驶轨迹可以匹配，而文本“A107”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，文本“A106”的置信度高于文本“A107”，从而可以将文本“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，可以控制车载显示器显示目标车位的图像，其中，该车载显示器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，在通过自动泊车、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20中的(a)；又例如，示例性地，图21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器显示如图21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21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，可以发送目标车位指示消息，该目标车位指示消息可以用于指示目标车位。例如，通过发送目标车位指示消息，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，发送目标车位指示消息，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，在接收该目标车位指示消息后，手机等终端设备可以显示如图21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，以上关于目标车位指示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22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1400可以包括以下部分或全部步骤：
S2210，获取周边环境信息。
示例性地，该周边环境信息可以包括由雷达和/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，该周边环境信息可以用于检测停车区域的标志物。
示例性地，该周边环境信息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。
S2220，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，可以控制车载显示器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，可以在车载显示器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。
S2230，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。
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，本申请实施例对此不做限定。
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，该文本可以称为区域信息文本。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，以上关于区域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区域信息文本的置信度，确定该停车区域标识。
示例性地，可以基于置信度规则，确定区域信息文本的置信度。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对区域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。应理解，以上关于确定停车区域标识的描述只是示例，本申请实施例对此不做限定。
表2
示例性地，在确定停车区域后，可以发送停车区域指示消息，该停车区域指示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，发送停车区域指示消息，通过发送该停车区域指示消息，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，车辆可以通过车载终端(telematics box，T-BOX)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23是本申请实施例提供的另一种交互界面的示意图，在接收停车区域指示消息后，手机等终端设备可以在其界面显示如图23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2305、点击肯定应答的控件2303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，以上关于停车区域指示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，可以控制车载显示器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23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器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GNSS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24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：
S2410，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、停车区域、停车楼层、第一位置中的至少一项，该第一位置可以包括该根据GNSS信号所确定的停车位置。例如，手机等终端设备可以从车辆或网络设备等获取仅用于指示目标车位的车辆位置信息，或称为目标车位指示消息；又例如，手机等终端设备可以从车辆或网络设备等获取仅用于指示停车区域的车辆位置信息，或称为停车区域指示消息；又例如，手机等终端设备可以从车辆或网络设备等获取仅用于指示停车楼层的车辆位置信息，或称为停车楼层指示消息；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，还可以用于指示停车楼层，也就是说，目标车位指示消息、停车区域指示消息、停车楼层指示 消息可以是同一个消息；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；又例如，该车辆位置信息可以是第一消息；又比如，车辆位置信息中可以通过指示第一经纬度信息、第一海拔信息等方式，指示该第一位置。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、Wi-Fi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。
S2420，显示第一界面，该第一界面可以用于指示停车区域、目标车位、停车楼层中的至少一项，或者，该第一界面可以指示第一位置。
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、目标车位、停车楼层中的至少一项。
示例性地，在获取的车辆位置信息用于指示第一经纬度信息时，该第一界面可以以文本或地图等方式指示该第一经纬度信息所指示的位置。
示例性地，可以通过停车区域标识指示停车区域，可以通过目标车位的标识指示目标车位，可以通过停车楼层的标识指示停车楼层。
为了便于解释和说明，示例性地，图25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25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25中的(a)所示的界面，在该界面中的区域2504可以包括该停车区域标识“A区”、目标车位的标识“236”、停车楼层标识“地下一层”，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2502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2506，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2506时，显示如图25中的(b)所示的界面。
参见图25中的(b)所示的界面，响应于手机检测到用户点击了图25中的(a)中的控件2506，可以在该界面中显示停车区域的标志物的图像2510，该图像2510中的标志物2511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2514，该图像2514中的车位2515可以是图8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2508，当手机检测到用户点击了控件2508时，可以显示如图25中的(a)所示的界面。
参见图25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2516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2517和图像2518。
参见图25中的(d)所示界面，该界面可以显示第一经纬度信息2521。进一步地，该界面还可以包括停车场区域的地图2525，其中虚线所示范围为停车场的区域，从而可以在该地图中指示该第一经纬度所指示的停车位置2523，比如，车辆位于停车场南门附近，从而可以便于用户通过地图自行挑选最佳的寻车路线，更进一步地，可以根据用户的实时位置推荐导航路线(图25未示出)等，从而进一步提高用户的使用体验。
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，在该终端设备与车辆间的距离小于或等于预设阈值时，该车辆可以以鸣笛、亮灯等方式提示用户其所在位置。
示例性地，图26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26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26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2540，该服务号2540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2540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2540的操作，通过如图26中的(c)所示的服务卡片2542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2544。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26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26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26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2540、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27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2550，该位置信息框2550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2550后，电子设备响应于用户的点击操作，显示如图27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2552，该导航信息框2552中包含电子设备导航至车辆所在位置所需时间信息2556；该智能寻车界面中还可以显示车辆停泊位置图像框2554，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2555。在一些可能的实现方式中，响应于用户的点击位置信息框2550的操作，电子设备显示智能寻车界面时，还可以显示图27中的(b)中2558所示“智能寻车已启用”的寻车动效。
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。
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车辆的停车位置相关内容，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1100、1200、1400、1500至2400可以相互结合。本申请实施例对此不做限定。例如，请参考图28至图29，图28可以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2600可以包括以下部分或全部步骤。
S2605，获取周边环境信息。
示例性地，该周边环境信息可以用于检测停车区域的标志物。该周边环境信息可以是一个或多个传感器采集的数据，比如该周边环境信息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。
S2610，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S2210等。
S2620，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S1910等。
示例性地，获取周边环境信息，可以与获取第一车位图像同时进行，也就是说，步骤S2620，与步骤S2605至S2610中的部分或全部步骤，可以同时执行，也可以先执行步骤S2620，还可以先执行 步骤S2605至S2610中的部分或全部步骤，本申请实施例对此不做限定。
S2625，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”，在存在多个区域信息文本(比如，区域信息文本“C17”、“D17”、“C18”时)时，可以将目标车位的标识与该区域信息文本匹配，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。
S2630，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S2230等。
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，S2635，发送停车区域指示消息，该停车区域指示消息可以用于指示停车区域。
示例性地，该停车区域指示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。
相应地，终端设备可以获取该停车区域指示消息，根据停车区域指示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区域。
可选地，S2640，发送目标车位指示消息，该目标车位指示消息可以用于指示目标车位。
示例性地，该目标车位指示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。
相应地，终端设备可以获取该目标车位指示消息，根据该目标车位指示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S2635，也可以先执行步骤S2640，还可以同时执行步骤S2635和S2640，本申请实施例对此不做限定。
可选地，S2650，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信息，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，通过发送目标车位指示消息可以指示目标车位，通过发送停车区域指示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29是本申请实施例提供的一种确定停车位置的方法的示意性流程图，该方法2700可以包括以下部分或全部步骤：
S2710，在车辆进入停车场时，在该车辆的运动过程中，获取该车辆的运动状态信息和/或周边环境信息。
示例性地，车辆在进入停车场，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，车辆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，可以基于车辆所在的位置，获取该车辆的运动状态信息和/或周边环境信息，以确定车辆在该停车场中所在的区域。
示例性地，车辆的运动状态信息，可以包括车辆的位姿信息，比如，车辆的俯仰角信息、车辆的位置信息等，又比如，该车辆的位置信息可以是根据全球卫星导航系统信号所确定的车辆的位置，等等。
S2730，根据该车辆的运动状态信息和/或周边环境信息，确定车辆在该停车场内所在的区域。
示例性地，车辆进入停车场直至完成停车，在该过程中，可以基于车辆所在的位置，获取该车辆的运动状态信息和/或周边环境信息。例如，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的信息，确定为停车位置所在的楼层；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。
一些可能的方式中，该方法还可以包括：获取GNSS信号；根据该GNSS信号的信号质量，确定停车位置定位模式。
示例性地，确定GNSS信号的信号质量的方法可以参照步骤S1120等。
示例性地，该停车位置定位模式可以包括第一定位模式或第二定位模式，其中，在通过第一定位模式工作时，可以根据该GNSS信号确定车辆的停车位置；在确定停车定位模式为第二定位模式时，可以根据车辆的运动状态和/或周边环境信息，确定车辆在停车场内所在的区域。
示例性地，在通过第一定位模式工作时，根据该GNSS信号所包括的经纬度信息，可以确定车辆在停车场内所处的区域；在确定停车定位模式为第二定位模式时，可以根据车辆的运动状态和/或周边环境信息，可以确定车辆的停车楼层、停车分区、第一车位中的至少一项。
在一些可能的实现方式中，停车位置定位模式为第二定位模式，根据车辆的运动状态和/或周边环境信息，确定车辆在停车场内所在的区域，可以包括：根据周边环境信息，确定车辆所途经的第一路口，该第一路口可以包括与该楼层间通道相连的楼层，和该楼层间通道之间的路口；根据该车辆所途经的第一路口，可以确定车辆所处的停车场的停车楼层，停车楼层为车辆处于停车位姿时所处的楼层。
示例性地，该第一路口可以包括与该楼层间通道相连的楼层，和该楼层间通道之间的路口，也就是说，第一路口可以是楼层间通道的出入口。示例性地，关于第一路口的描述可以参照步骤S1510等。
示例性地，关于根据车辆所途经的第一路口确定停车楼层的方法可以参照方法1500等。
在一些可能的实现方式中，该周边环境信息可以包括第一通道的图像，该第一通道可以是车辆所通过的楼层间通道，根据车辆的运动状态和/或周边环境信息，确定车辆在停车场内所在的区域，可以包括：根据第一通道的图像，确定通道指引标识；根据该通道指引标识，确定停车楼层。
示例性地，关于第一通道和通道指引标识的描述可以参照方法1400等。
示例性地，该第一通道的图像，可以是由一个或多个摄像头传感器所采集的一个或个张图像，该第一通道的图像，也可以是多个摄像头传感器所采集的图像，经拼接等图像处理所获得的，还可以是该第一通道在多个时刻的图像信息。
一些可能的实现方式中，该方法还可以包括：在确定车辆位于楼层间通道时，启动第二传感器；控制该第二传感器采集周边环境信息。
示例性地，可以根据车辆的俯仰角、坡道传感器所获取的数据等确定车辆是否位于楼层间通道，在确定车辆位于楼层间通道时，可以启动一个或多个感知传感器采集周边环境信息，从而可以降低雷达、摄像头等传感器的资源消耗，对于电动汽车等而言，可以提高车辆的可续航里程。
一些可能的实现方式中，该车辆的运动状态信息可以包括车辆在第一时长内的俯仰角信息，根据车辆的运动状态和/或周边环境信息，确定车辆在停车场内所在的区域，可以包括：根据车辆在第一时长内的俯仰角信息，确定车辆所通过的楼层间通道的个数；根据车辆所通过的楼层间通道的个数，确定停车楼层。
示例性地，关于第一时长的描述可以参照步骤S1210等。
示例性地，关于确定停车楼层的描述可以参照方法1200、1400、1500等。
一些可能的实现方式中，根据车辆的运动状态和/或周边环境信息，确定车辆在停车场中所处的区域，可以包括：根据周边环境信息，检测停车分区的标志物；根据标志物的图像，确定停车分区。
示例性地，该停车分区可以是指“A区”、“H-17”、“B-17”、“H-10-2”、“xx区”等停车场的停车区域，该停车分区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。
示例性地，关于停车分区的标志物，以及确定停车分区的方法的描述可以参照方法2200等。
一些可能的实现方式中，该周边环境信息包括第一车位图像，该第一车位图像包括第一车位，根据车辆的运动状态和/或周边环境信息，确定车辆在停车场内所在的区域，可以包括：根据该第一车位的图像，确定第一车位的标识。
示例性地，关于确定第一车位的标识的描述，可以参照方法1900等。
一些可能的实现方式中，该目标车位的标识包括区域关键字，该方法还可以包括：根据该标志物的图像和区域关键字，确定该停车区域。
示例性地，关于区域关键字等的描述可以参照方法2200等。
一些可能的实现方式中，该方法还可以包括：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，可以获取该车辆的该运动状态信息和/或该周边环境信息。
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，该第一指令可以是方法1800中的停车语音指令；又例如，也可以结合用户对于停车位的指示(比如，在检测到用户通过实体、虚拟按键、手势指令所指示的车位，用户通过语音指令所指示的车位)，获取该车辆的该运动状态信息和/或该周边环境信息，比如，获取周边的空闲车位的图像信息等。
示例性地，根据第一指令获取该车辆的该运动状态信息和/或该周边环境信息，可以包括，根据该第一指令，控制摄像头、雷达传感器调整姿态，获取周边环境数据。例如，该摄像头、雷达传感器可以具有或安装于可作动的支架，根据该第一指令可以控制该支架作动，以调整该传感器的姿态，以便于获取周边环境数据，从而可以减小由于车辆姿态对于获取周边环境数据的影响，等等。
一些可能的实现方式中，该获取该车辆的运动状态信息和/或周边环境信息，可以包括：在检测到车辆进入停车状态时，获取该车辆的该运动状态信息和/或该周边环境信息。
示例性地，在检测到车辆进入停车状态时，获取该车辆的该运动状态信息和/或该周边环境信息，可以包括，在检测到车辆进入停车状态时，控制摄像头、雷达传感器调整姿态，获取周边环境信息。
示例性地，在检测到车辆进入停车状态时，获取该车辆的该运动状态信息和/或该周边环境信息，可以包括，在检测到车辆进入停车状态时，控制第一传感器启动，控制该第一传感器采集周边环境信息。例如，在检测用户的第一操作时，可以认为车辆进入停车状态，关于第一操作的描述，可以参照方法1800等。
该方法还可以包括：发送第一消息，该第一消息用于指示该停车区域、该第一车位、该停车楼层中的至少一项。
一些可能的实现方式中，该方法还可以包括：发送第一消息，该第一消息可以用于指示该停车区域、目标车位、停车楼层中的至少一项。相应地，手机等终端设备、云端服务器等电子设备，可以接收该第一消息。
示例性地，在确定停车位置之后，可以发送第一消息。例如，在通过该第一定位模式工作时，该第一消息可以用于指示根据GNSS信号所确定的停车位置；又例如，在通过该第二定位模式工作时，该第一消息可以用于指示该停车区域、该目标车位、该停车楼层中的至少一项；又例如，第一消息可以通过指示第一经纬度信息、第一海拔信息等方式，指示根据GNSS信号所确定的停车位置。
一些可能的实现方式中，该第一消息可以为加密消息。
示例性地，为了保护通信的安全性，可以根据第一密钥，对用于指示停车位置的消息进行加密。例如，在手机等终端设备与车辆存在关联关系时，比如，通过蓝牙等方式连接、手机与车辆登录同一用户账户等，终端设备和/或云服务器与车辆，比如可以通过非对称加密的方式交换私钥等，从而该终端设备/云服务器，可以对该第一消息进行解密。
一些可能的实现方式中，发送第一消息，可以包括：在车辆的座舱内未检测到用户时，发送该第一消息。例如，可以根据座椅压力传感器、座舱内的摄像头传感器，等车载传感器所采集的信息，确定座舱内是否存在用户。
本申请实施例中，在车辆座舱内未检测到用户时，发送该第一消息，可以减少发送该第一消息的频次，可以降低车辆的流量消耗。
示例性地，可以在确定车辆完成停车之后，发送该第一消息。
示例性地，手机等终端设备可以发送停车位置请求信息，相应地，车辆可以接收该停车位置请求信息，进一步地，可以根据该停车位置请求信息，发送该第一消息。示例性地，该停车位置请求信息可以包括请求人的身份信息，由此可以根据该请求人的身份信息，确定该请求人的权限，可以根据该请求人的权限确定该第一消息，比如，在确定该请求人为未授权用户时，可以不发送该第一消息，又比如，在确定该请求人为车主时，该第一消息中可以包括停车位的图像、标识、停车分区的图像、标识、停车楼层信息等，又比如，在确定该请求人仅具备部分权限时，可以根据该请求人的权限确定该第一消息，又比如，可以根据请求人的请求内容，确定该第一消息；又比如，在确定停车位置请求信息由云端服务器触发时，该第一消息中可以包括停车位的图像、标识、停车分区的图像、标识、停车楼层信息等。
一些可能的实现方式中，根据GNSS信号的信号质量，确定停车位置定位模式，可以包括：在GNSS信号的信号质量大于或等于第一阈值时，确定该停车位置定位模式为第一定位模式；或，在GNSS信号的信号质量小于或等于第一阈值时，确定该停车位置定位模式为第二定位模式。
示例性地，关于GNSS信号的信号质量、第一阈值等的描述可以参照方法1100等。
一些可能的实现方式中，该方法还可以包括：获取第一状态参数，该第一状态参数可以包括车辆与停车场的入口间的距离、车辆的车速和GNSS信号的信号质量中的至少一项；在该第一状态参数满足预设条件时，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。
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。
应理解，图28至图29所描述的方法，只是示例，以便于说明方法1100、1200、1400、1500、1700、1800、1900、2200、2400间相互结合的方式，以上方法还可以有其他结合方式，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。本申请实施例也提供了用于实现上述方法1100至2700中任一项，及其相互结合的方法的装置。为了简洁，以下仅对实现上述部分方法的装置进行说明。例如，请参考图30，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2800可以包括获取模块2810和处理模块2820。
其中，获取模块2810，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1700等。
示例性地，获取模块2810，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2820，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应的第一阈值。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。
示例性地，处理模块2820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S1720至S1730等。
应理解，图30所示装置可以用于实现上述方法1700。
示例性地，图31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2900可以包括获取模块2910和处理模块2920。
其中，该获取模块2910，可以用于获取语音指令或用户操作信息。
处理模块2920，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S1820等。
获取模块2910，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2920，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2920，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2920，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2900可以用于实现上述方法1800。
示例性地，图32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3000可以包括获取模块3010和处理模块3020。
其中，获取模块3010，可以用于获取第一车位图像；处理模块3020，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3010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3020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3020，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3020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20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20中的(b)所示，确定该目标车位为图20中的(a)中标识 2051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3020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3010可以用于获取在多个时刻的目标车位的图像，该处理模块3110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3020，还可以用于控制车载显示器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20中的(a)所示界面，以指示目标车位；又例如，可以在车载显示器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21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3000还可以包括发送模块3030，该发送模块3030，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3000可以用于实现方法1900，关于目标车位、目标车位的标识等的描述可以参照方法1900等。
示例性地，图33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3100可以包括获取模块3110和处理模块3120。
其中，获取模块3110，可以用于获取周边环境信息，该周边环境信息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3120，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3120还可以根据周边环境信息，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3120，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3120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S1730等。
一些可能的实现方式中，获取模块3110，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3120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3120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S1730等。
一些可能的实现方式中，在确定目标车位之后，处理模块3120，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3110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3120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3120，还可以用于控制车载显示器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3100还可以包括发送模块3130，该发送模块3130，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3100可以用于实现方法1700，以上关于停车区域的标志物等的描述，可以参照方法1700等。
示例性地，图34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3200可以包括获取模块3210和显示模块3220。
其中，获取模块3210，可以用于获取车辆位置信息。例如，该获取模块可以用于获取第一消息，该第一消息可以包括车辆的停车位置信息，比如，停车位置信息可以用于指示车辆的停车楼层的信息、停车分区的信息、停车位的信息中的至少一项，又比如，停车位置信息可以用于指示车辆的停车楼层的信息和/或停车分区的信息，和，停车位的信息。
该显示模块3220，可以用于显示第一界面，该第一界面可以用于指示停车位置。
一些可能的实现方式中，该显示模块3220，可以用于显示停车区域的信息。
一些可能的实现方式中，该显示模块3220，可以用于显示目标车位的信息。
一些可能的实现方式中，该显示模块3220，可以用于显示停车楼层的信息。
一些可能的实现方式中，该显示模块3220，可以用于显示第一经纬度信息所指示的停车位置。
一些可能的实现方式中，该显示模块3220，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3220，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3220，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35是本申请实施例提供的一种确定车辆位置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，该获取模块3310，可以用于在车辆进入停车场时，在车辆的运动过程中，获取车辆的运动状态信息和/或周边环境信息；处理模块3320，可以用于根据车辆的运动状态信息和/或周边环境信息，确定车辆在停车场内所在的区域。
示例性地，关于车辆运动状态信息、周边环境信息的描述可以参照方法2700等。
示例性地，在获取模块3310，可以用于获取GNSS信号；处理模块3320，可以用于：根据该GNSS信号的信号质量，确定停车位置定位模式。
示例性地，在通过第一定位模式工作时，处理模块3310，可以用于，根据该GNSS信号，确定车辆在停车场内所在的区域；在确定停车定位模式为第二定位模式时，处理模块3310可以用于，根据车辆的运动状态信息和/或周边环境信息，确定车辆在停车场内所在的区域。
示例性地，根据车辆的运动状态信息和/或周边环境信息，可以确定车辆在停车场中所处的楼层、停车分区、停车位等。
一些可能的实现方式中，该停车位置定位模式为第二定位模式，该处理模块3320，具体可以用于：根据周边环境信息，确定车辆所途经的第一路口，该第一路口可以包括与楼层间通道相连的楼层，和该楼层间通道之间的路口；根据该车辆所途经的第一路口，可以确定该车辆所处的停车场的停车楼层，该停车楼层为车辆处于停车位姿时所处的楼层。
示例性地，关于第一路口的描述可以参照步骤S1510等。
一些可能的实现方式中，该获取模块3310可以用于获取第一通道的图像，该第一通道可以是车辆所通过的楼层间通道，该处理模块3320，具体可以用于：根据第一通道的图像，确定通道指引标识；根据该通道指引标识，确定停车楼层。
示例性地，关于第一通道和通道指引标识的描述可以参照方法1400等。
一些可能的实现方式中，该处理模块3320，具体可以用于：在确定车辆位于楼层间通道时，启动第二传感器；控制该第二传感器采集周边环境信息。
示例性地，获取模块3310，可以直接获取该第二传感器所采集的周边环境信息，也可以从其他模块获取该第二传感器所采集的周边环境信息，也可以是从其他模块获取经滤波等数据处理后的周边环 境信息，本申请对此不做限定。
示例性地，关于确定车辆位于楼层间通道的描述，可以参照方法1200等。
一些可能的实现方式中，该获取模块3310可以用于获取车辆在第一时长内的俯仰角信息；该处理模块3320，还可以用于：根据车辆在第一时长内的俯仰角信息，确定车辆所通过的楼层间通道的个数；根据车辆所通过的楼层间通道的个数，确定停车楼层。
示例性地，关于第一时长的描述可以参照步骤S1210等。
一些可能的实现方式中，该处理模块3320可以用于：根据周边环境信息，检测停车分区的标志物，该标志物可以包括立柱；根据标志物的图像，确定停车分区。
示例性地，关于停车分区的标志物、确定停车分区的方法的描述，可以参照方法2200等。
一些可能的实现方式中，该获取模块3310，可以用于获取第一车位图像，该第一车位图像包括第一车位；该处理模块3320，具体可以用于：根据该第一车位的图像，确定第一车位的标识。
示例性地，关于确定第一车位的标识的描述，可以参照步骤1920等。
示例性地，处理模块3320还可以用于根据第一车位的标识确定区域关键字。示例性地，关于区域关键字的描述可以参照方法2200。
一些可能的实现方式中，第一车位的标识包括区域关键字，处理模块3320具体可以用于：根据该标志物的图像和区域关键字，确定该停车区域。
一些可能的实现方式中，该获取模块3310，还可以用于：获取第一指令，该第一指令用于指示车辆的用户存在停车意图；该获取模块3310，具体可以用于：根据该第一指令，获取车辆的运动状态信息和/或周边环境信息。
示例性地，关于第一指令的描述可以参照方法2700等。
一些可能的实现方式中，该获取模块3310，具体可以用于：在检测到车辆进入停车状态时，获取车辆的运动状态信息和/或周边环境信息。
示例性地，关于车辆进入停车状态的描述，可以参照方法2700等。
一些可能的实现方式中，在确定用户存在停车意图时，比如检测到第一指令、检测到车辆进入停车状态时，该处理模块3320，可以控制第一传感器启动，控制该第一传感器采集周边环境数据。例如，车辆在进入到停车场后，可以通过较少的摄像头、雷达传感器获取较粗颗粒度的周边环境信息，在确定用户存在停车意图时，可以启动更多的传感器，以获取更为细节的周边环境信息，等等。
一些可能的实现方式中，该装置3300还可以包括发送模块3330，该发送模块具体可以用于：发送第一消息，该第一消息可以用于指示该停车区域、第一车位、停车楼层中的至少一项。
示例性地，关于第一信息的描述可以参照方法1100等。
一些可能的实现方式中，该发送模块3330，在检测到车辆完成停车时，可以发送该第一消息。例如，在检测到车辆下电、检测到车辆的驻车制动处于工作状态、检测到车辆的档位为停车档、检测到车辆熄火，等情形时，可以发送该第一消息；又例如，在车辆的座舱内未检测到用户时，可以发送该第一消息。
示例性地，该处理模块3320也可以用于检测该车辆是否完成停车，比如，可以根据车辆的控制信号，确定车辆是否完成停车，等等。
一些可能的实现方式中，该第一消息可以为加密消息。例如，处理模块3320，可以用于实现对第一消息的加密。
示例性地，可以通过非对称加密、对称加密的方式实现对第一消息的加密，应理解，对第一消息加密的方法可以参照相关技术，本申请实施例对此不做限定。
示例性地，该装置还可以包括接收模块3340，该接收模块3340，可以用于接收停车位置请求信息，该停车位置请求信息，可以用于请求车辆的停车位置，该发送模块3330，可以用于，根据该停车位置请求信息，发送该第一消息。
示例性地，该停车位置请求信息可以包括请求人身份信息，该发送模块3330，具体可以用于，根据该请求人身份信息，发送该第一消息。
示例性地，该处理模块3320，可以根据该请求人身份信息，确定该第一消息所包括的内容。
示例性地，关于根据停车位置请求信息，发送第一消息的描述，可以参照方法2700等。
一些可能的实现方式中，处理模块3320具体可以用于：在GNSS信号的信号质量大于或等于第一阈值时，确定该停车位置定位模式为第一定位模式；或，在GNSS信号的信号质量小于或等于第一阈值时，确定该停车位置定位模式为第二定位模式。
示例性地，关于第一阈值等的描述可以参照方法1100。
一些可能的实现方式中，获取模块3310还可以用于：获取第一状态参数，该第一状态参数可以包括车辆与停车场入口间的距离、车速和GNSS信号的信号质量中的至少一项；处理模块3320，还可以用于，在该第一状态参数满足预设条件时，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。
应理解，装置3300，可以用于实现方法2700。
示例性地，图36是本申请实施例提供的一种确定停车楼层的装置的结构示意图。该装置可以包括获取模块3410和处理模块3420。
其中，获取模块3410，可以用于获取周边环境信息；处理模块3420，可以用于根据该周边环境信息确定车辆途经的第一路口；可以根据车辆途经的第一路口，确定停车楼层。
示例性地，关于第一路口的描述可以参照步骤S1510等。
在一些可能的实现方式中，获取模块3410具体可以用于，获取楼层间通道的图像，处理模块3420，具体可以用于：根据该楼层间通道的图像，确定该楼层间通道的出/入口；根据该楼层间通道的出/入口，确定第一路口，
示例性地，在车辆位于该楼层间通道内时，可以根据楼层间通道的图像，确定楼层间通道的出口，从而确定第一路口；或，在车辆位于楼层内时，可以根据感知传感器采集的数据，确定楼层间通道的入口，从而确定第一入口。
示例性地，根据传感器所采集的图像，比如，可以通过特征提取和识别等方式，确定第一路口。
在一些可能的实现方式中，获取模块3410，还可以用于获取车辆的俯仰角信息，处理模块3420，可以用于根据车辆的俯仰角信息，确定车辆处于楼层间通道。进一步地，该处理模块3420，还可以用于：在确定车辆处于楼层间通道时，启动第一传感器；控制第一传感器采集周边环境信息。
示例性地，处理模块3420也可以根据车辆的加速度信息、坡道传感器所采集的数据等确定车辆是否位于通道内。
示例性地，根据该第一路口，可以确定楼层的相对变化。应理解，确定楼层相对变化的方法可以参照步骤S1520等。
在一些可能的实现方式中，处理模块3420，可以根据车辆的俯仰角信息和车辆所途经的多个路口，确定第一路口。
在一些可能的实现方式中，该装置还可以包括发送模块3430，该发送模块3430可以用于，在确定停车楼层后，发送停车楼层指示信息，该停车楼层指示信息可以用于指示停车楼层，相应地，手机等终端设备和/或云服务器，可以从车辆、网络设备或其他设备获取该停车楼层指示信息。
应理解，装置3400，可以用于实现方法1500。根据本申请实施例所提供的装置，通过确定第一路口，可以降低停车场的建筑结构对识别停车楼层的干扰，能够提高所确定的停车楼层的准确性。
示例性地，图37是本申请实施例提供的另一种确定停车楼层的装置的示意图，该装置可以包括获取模块3510和处理模块3520。
其中，获取模块3510，可以用于获取车辆的俯仰角信息；处理模块3520，可以用于：根据该车辆的俯仰角信息，确定停车楼层。
一些可能的实现方式中，获取模块3510，具体可以用于获取第一时长内的俯仰角信息，该第一时长的起始时刻可以早于或等于车辆首次驶入楼层间通道的时刻，该第一时长的结束时刻可以等于或晚于车辆驶入停车楼层的时刻；处理模块3520，具体可以用于根据该第一时长内的俯仰角信息，确定停车楼层。
示例性地，根据IMU所采集的数据可以确定车辆实时的俯仰角信息。例如，根据车辆实时的俯仰角信息，可以确定车辆首次驶入楼层间通道的时刻，也可以确定车辆在处于停车位姿前最后一次驶出楼层间通道的时刻，相应地，获取模块3510可以获取该时段内的车辆的俯仰角信息，处理模块3520由此可以确定停车楼层；又例如，通过停车场标志物检测，可以确定车辆驶入停车场区域的时刻，获 取模块3510可以获取该时刻之后的车辆的俯仰角信息；又例如，该装置3500，可以包括该IMU，从而可以根据该IMU所采集的数据获取该车辆的俯仰角信息，也可以不包括该IMU，从而可以通过车辆内部的通信，获取车辆的俯仰角信息，本申请实施例对此不做限定，比如，以该装置为座舱域控制器为例，座舱域控制器可以包括IMU，也可以不包括IMU，在该座舱域控制器不包括该IMU时，比如自动驾驶域控制器包括IMU时，可以通过该装置间的通信，获取该车辆的俯仰角信息。应理解，以上关于第一时长、车辆的俯仰角信息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，获取车辆俯仰角的方式也可以参照其他相关技术，本申请实施例对此不做限定。
应理解，装置3500可以用于实现方法1200。本申请实施例中，根据车辆的俯仰角的信息，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，使得可以适用于低配置的车型，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，对于电动车、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。
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，确定车辆在停车场内所处的区域，该确定车辆在停车场内所处的区域的处理器，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3300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3300可以为设置在车辆中的 如图1所示的计算平台150。
示例性地，图38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11至图27所示的一个或多个方法，处理器5002读取存储器5004中的该可执行代码以执行图11至图27所示的一个或多个方法。
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2700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2700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3310和/或处理模块3320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3310和/或处理模块3320所执行的操作。
示例性地，图39示出了本申请实施例提供的一种系统7000的示意图，如图39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30至图33，或图35至图38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可以用于发送第一消息，该第一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，接收该第一消息，根据该第一消息，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，比如，可以显示如图25、图26、图27所示界面；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，发送该第一消息。
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，“第一传感器”和“第二传感器”仅用于区分，不代表“第一传感器”和“第二传感器”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 (33)

  1. 一种确定停车位置的方法，其特征在于，包括：
    在车辆进入停车场时，在所述车辆的运动过程中，获取所述车辆的运动状态信息和/或周边环境信息；
    根据所述车辆的所述运动状态信息和/或所述周边环境信息，确定所述车辆在所述停车场内所在的区域。
  2. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    获取全球卫星导航系统GNSS信号；
    根据所述GNSS信号的信号质量，确定停车位置定位模式，所述停车位置定位模式包括第一定位模式，或第二定位模式，其中，在通过所述第一定位模式工作时，根据所述GNSS信号确定所述车辆在所述停车场内所在的区域；
    所述根据所述车辆的所述运动状态信息和/或所述周边环境信息，确定所述车辆在所述停车场内所在的区域，包括：
    在确定所述停车位置定位模式为所述第二定位模式时，根据所述车辆的所述运动状态信息和/或所述周边环境信息，确定所述车辆在所述停车场内所在的区域。
  3. 根据权利要求1或2所述的方法，其特征在于，所述停车场包括楼层间通道，所述根据所述车辆的所述运动状态信息和/或所述周边环境信息，确定所述车辆在所述停车场内所在的区域，包括：
    根据所述周边环境信息，确定所述车辆途经的第一路口，所述第一路口包括与所述楼层间通道相连的楼层，和所述楼层间通道之间的路口；
    根据所述车辆途经的所述第一路口，确定所述车辆所处的所述停车场的停车楼层，所述停车楼层为所述车辆处于停车位姿时所处的楼层。
  4. 根据权利要求1至3中任一项所述的方法，其特征在于，所述周边环境信息包括第一通道的图像，所述第一通道包括所述车辆通过的所述楼层间通道，所述根据所述车辆的所述运动状态信息和/或所述周边环境信息，确定所述车辆在所述停车场内所在的区域，包括：
    根据所述第一通道的图像，确定通道指引标识；
    根据所述通道指引标识，确定所述停车楼层。
  5. 根据权利要求1至4中任一项所述的方法，其特征在于，所述车辆的运动状态信息包括所述车辆在第一时长内的俯仰角信息，所述根据所述车辆的所述运动状态信息和/或所述周边环境信息，确定所述车辆在所述停车场内所在的区域，包括：
    根据所述车辆在所述第一时长内的所述俯仰角信息，确定所述车辆通过的所述楼层间通道的个数，其中，所述第一时长的起始时刻早于或等于所述车辆驶入首个所述楼层间通道的时刻，所述第一时长的结束时刻等于或晚于所述车辆驶入所述停车楼层的时刻；
    根据所述车辆通过的所述楼层间通道的个数，确定所述停车楼层。
  6. 根据权利要求1至5中任一项所述的方法，其特征在于，所述根据所述车辆的所述运动状态信息和/或所述周边环境信息，确定所述车辆在所述停车场内所在的区域，包括：
    根据所述周边环境信息，检测到停车分区的标志物；
    根据所述标志物的图像，确定所述停车分区。
  7. 根据权利要求1至6中任一项所述的方法，其特征在于，所述周边环境信息包括第一车位图像，所述第一车位图像包括第一车位，所述第一车位包括所述车辆处于停车位姿时所处的车位，所述根据所述车辆的所述运动状态信息和/或所述周边环境信息，确定所述车辆在所述停车场内所在的区域，包括：
    根据所述第一车位图像，确定所述第一车位的标识。
  8. 根据权利要求7所述的方法，其特征在于，所述第一车位的标识包括区域关键字，所述方法还包括：
    根据所述标志物的图像和所述区域关键字，确定所述停车分区。
  9. 根据权利要求1至8中任一项所述的方法，其特征在于，所述获取所述车辆的运动状态信息和/或周边环境信息，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，获取所述车辆的所述运动状态信息和/或所述周边环境信息。
  10. 根据权利要求1至9中任一项所述的方法，其特征在于，所述获取所述车辆的运动状态信息和/或周边环境信息，包括：
    在检测到车辆进入停车状态时，获取所述车辆的所述运动状态信息和/或所述周边环境信息。
  11. 根据权利要求3至10中任一项所述的方法，其特征在于，所述方法还包括：
    发送第一消息，所述第一消息用于指示所述停车分区、所述第一车位、所述停车楼层中的至少一项。
  12. 根据权利要求11所述的方法，其特征在于，所述发送第一消息，包括：
    在所述车辆的座舱内未检测到用户时，发送所述第一消息。
  13. 根据权利要求2至12中任一项所述的方法，其特征在于，所述根据所述GNSS信号的信号质量，确定停车位置定位模式，包括：
    在所述GNSS信号的所述信号质量大于或等于第一阈值时，确定所述停车位置定位模式为所述第一定位模式；或，
    在所述GNSS信号的所述信号质量小于或等于所述第一阈值时，确定所述停车位置定位模式为所述第二定位模式。
  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：
    获取第一状态参数，所述第一状态参数包括所述车辆与所述停车场的入口间的距离、所述车辆的车速和所述GNSS信号的所述信号质量中的至少一项；
    在所述第一状态参数满足预设条件时，进行停车场标志物检测；
    在检测到所述停车场标志物时，确定所述车辆位于所述停车场。
  15. 一种确定车辆位置的装置，其特征在于，包括：
    获取模块，用于在车辆进入停车场时，在所述车辆的运动过程中，获取所述车辆的运动状态信息和/或周边环境信息；
    处理模块，用于根据所述车辆的所述运动状态信息和/或所述周边环境信息，确定所述车辆在所述停车场内所在的区域。
  16. 根据权利要求15所述的装置，其特征在于，所述获取模块，还用于：
    获取全球卫星导航系统GNSS信号；
    所述处理模块，还用于：
    根据所述GNSS信号的信号质量，确定停车位置定位模式，所述停车位置定位模式包括第一定位模式，或第二定位模式，其中，在通过所述第一定位模式工作时，根据所述GNSS信号确定所述车辆在所述停车场内所在的区域；
    所述处理模块，具体用于：
    在确定所述停车位置定位模式为所述第二定位模式时，根据所述车辆的所述运动状态信息和/或所述周边环境信息，确定所述车辆在所述停车场内所在的区域。
  17. 根据权利要求15或16所述的装置，其特征在于，所述停车场包括楼层间通道，所述处理模块，具体用于：
    根据所述周边环境信息，确定所述车辆途经的第一路口，所述第一路口包括与所述楼层间通道相连的楼层，和所述楼层间通道之间的路口；
    根据所述车辆途经的所述第一路口，确定所述车辆所处的所述停车场的停车楼层，所述停车楼层为所述车辆处于停车位姿时所处的楼层。
  18. 根据权利要求15至17中任一项所述的装置，其特征在于，所述获取模块，具体用于：
    获取第一通道的图像，所述第一通道包括所述车辆通过的所述楼层间通道；
    所述处理模块，具体用于：
    根据所述第一通道的图像，确定通道指引标识；
    根据所述通道指引标识，确定所述停车楼层。
  19. 根据权利要求15至18中任一项所述的装置，其特征在于，所述获取模块，具体用于：
    获取所述车辆在第一时长内的俯仰角信息，其中，所述第一时长的起始时刻早于或等于所述车辆驶入首个所述楼层间通道的时刻，所述第一时长的结束时刻等于或晚于所述车辆驶入所述停车楼层的时刻；
    所述处理模块，具体用于：
    根据所述车辆在所述第一时长内的所述俯仰角信息，确定所述车辆通过的所述楼层间通道的个数；
    根据所述车辆通过的所述楼层间通道的个数，确定所述停车楼层。
  20. 根据权利要求15至19中任一项所述的装置，其特征在于，所述处理模块，具体用于：
    根据所述周边环境信息，检测停车分区的标志物；
    根据所述标志物的图像，确定所述停车分区。
  21. 根据权利要求15至20中任一项所述的装置，其特征在于，所述获取模块，具体用于：
    获取第一车位图像，所述第一车位图像包括第一车位，所述第一车位包括所述车辆处于停车位姿时所处的车位；
    所述处理模块，具体用于：
    根据所述第一车位图像，确定所述第一车位的标识。
  22. 根据权利要求21所述的装置，其特征在于，所述第一车位的标识包括区域关键字，所述处理模块，具体用于：
    根据所述标志物的图像和所述区域关键字，确定所述停车分区。
  23. 根据权利要求15至22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；
    所述获取模块，具体用于：
    根据所述第一指令，获取所述车辆的所述运动状态信息和/或所述周边环境信息。
  24. 根据权利要求15至23中任一项所述的装置，其特征在于，所述获取模块，还用于：
    在检测到车辆进入停车状态时，获取所述车辆的所述运动状态信息和/或所述周边环境信息。
  25. 根据权利要求15至24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：
    发送第一消息，所述第一消息用于指示所述停车分区、所述第一车位、所述停车楼层中的至少一项。
  26. 根据权利要求25所述的装置，其特征在于，所述发送模块，具体用于：
    在所述车辆的座舱内未检测到用户时，发送所述第一消息。
  27. 根据权利要求16至26中任一项所述的装置，其特征在于，所述处理模块，具体用于：
    在所述GNSS信号的所述信号质量大于或等于第一阈值时，确定所述停车位置定位模式为所述第一定位模式；或，
    在所述GNSS信号的所述信号质量小于或等于所述第一阈值时，确定所述停车位置定位模式为所述第二定位模式。
  28. 根据权利要求15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：
    获取第一状态参数，所述第一状态参数包括所述车辆与所述停车场的入口间的距离、所述车辆的车速和所述GNSS信号的所述信号质量中的至少一项；
    所述处理模块，还用于：
    在所述第一状态参数满足预设条件时，进行停车场标志物检测；
    在检测到所述停车场标志物时，确定所述车辆位于所述停车场。
  29. 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14中任一项所述的方法。
  30. 一种计算机程序产品，其特征在于，包括计算机程序代码，所述计算机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14中任意一项所述的方法。
  31. 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14中任意一项所述的方法。
  32. 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15至29中任一项所述的装置；
    所述车辆，用于：
    发送第一消息，所述第一消息用于指示所述车辆的停车位置信息；
    所述电子设备，用于：
    接收所述第一消息；
    根据所述第一消息，控制显示所述车辆的停车位置。
  33. 根据权利要求32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，发送所述第一消息。
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