CN113619570A - Parking space locator determination method and device, vehicle and storage medium - Google Patents
Parking space locator determination method and device, vehicle and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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Abstract
The application relates to the technical field of processing, in particular to a method and a device for judging a parking space locator, a vehicle and a storage medium, wherein the method comprises the following steps: when the vehicle is in an automatic parking mode, detecting the actual rotating speed and the current torque of a driving motor at the current moment; identifying the torque variation trend of the driving motor based on the current torque according to the reduction value between the actual rotating speed and the actual rotating speed at any moment; and if the reduction value is greater than the preset threshold value and the torque variation trend is unchanged or continuously increased, judging that the parking space limit is reached, and reporting limit information. Therefore, the problems that in the related art, due to the fact that the parking space positioner cannot be effectively judged by the ultrasonic radar used for automatic parking, a vehicle always malfunctions continuously at the parking space positioner and even crosses the parking space positioner, and parking failure is caused are solved, accuracy and reliability of automatic parking are improved, and vehicle safety is guaranteed.
Description
Technical Field
The present disclosure relates to the field of vehicle technologies, and in particular, to a method and an apparatus for determining a parking space locator, a vehicle, and a storage medium.
Background
The automatic parking function is a common parking auxiliary system in the automobile, and is developed and perfected by various modes of various large host factories along with the development of electromotion and intellectualization of the new energy automobile. The APA (automatic Parking Assist) function senses the surrounding environment using an ultrasonic radar and helps the driver to find an empty Parking space of a proper size, and after the driver sends an automatic Parking instruction, the vehicle is parked in the Parking space.
However, the ultrasonic radar used for automatic parking cannot effectively judge the parking space locator, often causes the vehicle to continuously malfunction at the parking space locator, and even crosses the parking space locator to cause the failure of parking, and needs to be solved urgently.
Content of application
The application provides a method and a device for judging a parking space locator, a vehicle and a storage medium, which are used for solving the problem that the parking space locator cannot be judged effectively due to an ultrasonic radar used for automatic parking in the related technology, the vehicle always malfunctions continuously at the parking space locator and even crosses the parking space locator to cause failure of parking, the accuracy and the reliability of automatic parking are improved, and the safety of the vehicle is ensured.
An embodiment of a first aspect of the present application provides a method for determining a parking space locator, including the following steps:
when the vehicle is in an automatic parking mode, detecting the actual rotating speed and the current torque of a driving motor at the current moment;
identifying a torque variation trend of the driving motor based on the current torque according to a reduction value between the actual rotating speed and the actual rotating speed at any moment in the past; and
and if the reduction value is larger than a preset threshold value and the torque variation trend is unchanged or continuously increased, judging that the parking space limit is reached, and reporting limit information.
Optionally, after judging that the parking space limit is reached, still include:
increasing the torque of the driving motor to an allowable maximum torque according to a preset increasing strategy;
detecting a current rotation speed of the driving motor after increasing to the allowable maximum torque;
and if the current rotating speed is less than the limiting rotating speed, further determining that the parking space limit is reached. Optionally, the method for determining a parking space locator further includes:
judging whether the vehicle finishes parking;
pulling up the electronic parking brake system of the vehicle when the vehicle finishes parking.
Optionally, the method for determining a parking space locator further includes:
and if the actual rotating speed is zero and the torque variation trend is unchanged or continuously increased, judging that the parking space limit is reached, and reporting the limit information.
Optionally, the method for determining a parking space locator further includes:
and when the parking space limit is reached, executing a limit protection action on the vehicle.
An embodiment of a second aspect of the present application provides a parking space locator's decision device, including:
the detection module is used for detecting the actual rotating speed and the current torque of the driving motor at the current moment when the vehicle is in the automatic parking mode;
the identification module is used for identifying the torque variation trend of the driving motor based on the current torque according to a reduction value between the actual rotating speed and the actual rotating speed at any moment in the past; and
and the judging module is used for judging that the parking space limit is reached and reporting limit information if the reduction value is greater than a preset threshold value and the torque variation trend is unchanged or continuously increased.
Optionally, after determining that the parking space limit is reached, the determination module is further configured to:
increasing the torque of the driving motor to an allowable maximum torque according to a preset increasing strategy;
detecting a current rotation speed of the driving motor after increasing to the allowable maximum torque;
and if the current rotating speed is less than the limiting rotating speed, further determining that the parking space limit is reached.
Optionally, the above determining device for a parking space locator further includes:
the judging module is used for judging whether the vehicle finishes parking;
and the braking module is used for pulling up the electronic parking braking system of the vehicle when the vehicle finishes parking.
Optionally, the above determining device for a parking space locator further includes:
and the reporting module is used for judging that the parking space limit is reached and reporting the limit information if the actual rotating speed is zero and the torque variation trend is unchanged or continuously increased.
Optionally, the above determining device for a parking space locator further includes:
and the protection module is used for executing a limiting protection action on the vehicle when the parking space is limited.
An embodiment of a third aspect of the present application provides a vehicle, comprising: the parking space locator comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor executes the program to realize the parking space locator determination method in the embodiment.
A fourth aspect of the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor, so as to implement the method for determining a parking space locator according to the foregoing embodiment.
Therefore, when the vehicle is in the automatic parking mode, the actual rotating speed and the current torque of the driving motor at the current moment are detected, the torque variation trend of the driving motor is identified based on the current torque according to the reduction value between the actual rotating speed and the actual rotating speed at any previous moment, and when the reduction value is larger than the preset threshold value and the torque variation trend is unchanged or continuously increased, the parking space limit is judged to be reached, and the limit information is reported. Therefore, in the automatic parking operation process, the rotating speed and torque data are detected constantly, the vehicle state is judged according to the changed characteristic numerical values, and the parking space positioner is deduced, so that the problems that in the related technology, the parking space positioner cannot be effectively judged due to the ultrasonic radar used for automatic parking, the vehicle always malfunctions continuously at the parking space positioner, and even the parking space positioner is crossed to cause the failure of parking are solved, the accuracy and the reliability of automatic parking are improved, and the safety of the vehicle is ensured.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of a method for determining a parking space locator according to an embodiment of the present application;
FIG. 2 is an exemplary diagram of a parking space locator decision system according to one embodiment of the present application;
FIG. 3 is a flowchart of a parking space limiter determination algorithm according to an embodiment of the present application;
FIG. 4 is a flow chart of a method for determining a parking space locator according to an embodiment of the present application;
fig. 5 is an exemplary diagram of a determination device of a parking space locator according to an embodiment of the present application;
FIG. 6 is a schematic structural diagram of a vehicle according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
A determination method and apparatus for a parking space locator, a vehicle, and a storage medium according to embodiments of the present application are described below with reference to the drawings. The method comprises the steps of detecting the actual rotating speed and the current torque of a driving motor at the current moment when a vehicle is in an automatic parking mode, identifying the torque variation trend of the driving motor based on the current torque according to the reduction value between the actual rotating speed and the actual rotating speed at any previous moment, judging that the parking space is limited when the reduction value is larger than a preset threshold value and the torque variation trend is unchanged or continuously increased, and reporting limit information. Therefore, in the automatic parking operation process, the rotating speed and torque data are detected constantly, the vehicle state is judged according to the changed characteristic numerical values, and the parking space positioner is deduced, so that the problems that in the related technology, the parking space positioner cannot be effectively judged due to the ultrasonic radar used for automatic parking, the vehicle always malfunctions continuously at the parking space positioner, and even the parking space positioner is crossed to cause the failure of parking are solved, the accuracy and the reliability of automatic parking are improved, and the safety of the vehicle is ensured.
Specifically, fig. 1 is a schematic flow chart of a method for determining a parking space locator according to an embodiment of the present application.
As shown in fig. 1, the method for determining the parking space locator includes the following steps:
in step S101, when the vehicle is in the automatic parking mode, the actual rotation speed and the current torque of the drive motor at the current time are detected.
Specifically, the automatic parking system sends an automatic parking instruction, the vehicle control unit controls the motor to output power and limit the maximum available torque of automatic parking after receiving the instruction, and the motor outputs the instruction power to the vehicle.
In step S102, a torque variation tendency of the drive motor is identified based on the current torque according to a reduction value between the actual rotation speed and the actual rotation speed at any one time before.
In step S103, if the reduction value is greater than the preset threshold value and the torque variation trend is constant or continuously increasing, it is determined that the parking space limit is reached, and limit information is reported.
The preset threshold may be a threshold preset by a user, may be a threshold obtained through a limited number of experiments, or may be a threshold obtained through a limited number of computer simulations, which is not specifically limited herein.
That is to say, when the reduction value between the actual rotating speed and the actual rotating speed at any moment before is greater than the preset threshold value and the torque variation trend is unchanged or continuously increased, it can be determined that the parking space limit is reached, and limit information is reported.
Optionally, in some embodiments, after determining that the parking space limit is reached, the method further includes: increasing the torque of the driving motor to the allowable maximum torque according to a preset increasing strategy; detecting a current rotation speed of the driving motor after increasing to the allowable maximum torque; and if the current rotating speed is less than the limiting rotating speed, further determining that the parking space limit is reached.
Specifically, according to the embodiment of the application, after the parking space limit is judged to be reached, the torque can be slowly increased to the maximum torque allowed for automatic parking, and if the current rotating speed of the driving motor is smaller than the limit rotating speed, namely the rotating speed of the motor is still close to 0, the parking space limit is judged to be reached.
Optionally, in some embodiments, the method for determining a parking space locator further includes: judging whether the vehicle finishes parking; and pulling up the electronic parking brake system of the vehicle when the vehicle finishes parking.
That is, when the vehicle finishes parking, the automatic parking system stops power output, pulls up an EPB (Electrical Park Brake system), and finishes automatic parking.
Optionally, in some embodiments, the method for determining a parking space locator further includes: and if the actual rotating speed is zero and the torque variation trend is unchanged or continuously increased, judging that the parking space limit is reached, and reporting limit information.
Specifically, if the rotating speed of the driving motor is suddenly reduced to about 0 and the torque of the motor is not greatly changed or continuously increased, the parking space limiter is judged to be reached at the moment, and the motor controller reports the information of the limiter.
Optionally, in some embodiments, the method for determining a parking space locator further includes: when the parking space is limited, the vehicle is subjected to limiting protection action.
Specifically, after the parking space limit is judged to be reached early and the limit information is reported, the automatic parking system stops power output and pulls up the EPB to finish automatic parking, so that the limit protection of the vehicle is realized, and the safety of the vehicle is ensured.
In order to enable those skilled in the art to further understand the determination method of the parking space locator according to the embodiment of the present application, the following detailed description is provided with reference to specific embodiments.
As shown in fig. 2, the parking space locator determination system related to the parking space locator determination method may include: the system comprises a vehicle control unit, a motor controller, a driving motor, an EPB, an automatic parking control system and the like. The automatic parking system can comprehensively sense the surrounding environment, help a driver to find an empty parking space with a proper size and send out automatic parking starting, parking and ending instructions; the vehicle control unit can receive an automatic parking control system instruction and send a power output instruction to the motor controller; the motor controller can receive a power output instruction sent by the vehicle controller to control the driving motor to stably output power, monitor the rotating speed and torque of the motor in real time, deduce the information of the parking space limiter and report the information to the automatic parking system; the driving motor is a torque and rotating speed output unit; the EPB, i.e., an electronic hand brake, may function at the start, end, and emergency stop of the automatic parking function for securing the safety of the vehicle.
As shown in fig. 3, fig. 3 is a flowchart of a parking space limiter determination algorithm, which includes the following steps:
s301, the motor controller monitors the rotating speed and the torque of the motor in real time.
S302, judging whether the rotating speed of the motor is suddenly reduced to be close to 0, if so, executing a step S303, otherwise, executing a step S301.
And S303, slowly increasing the torque to the maximum allowable torque for automatic parking.
S304, judging whether the rotating speed of the motor is still near 0, if so, executing the step S305, otherwise, executing the step S303.
S305, judging that the parking space limiter is reached.
Further, as shown in fig. 4, fig. 4 is a flowchart of the determination method of the APA functional bit locator. The method mainly comprises the following steps:
s401, judging the external condition of the automatic parking control system, releasing the EPB, and preparing the vehicle for automatic parking.
S402, the automatic parking control system sends out a parking instruction, and the vehicle control unit sends out a power output instruction after receiving the parking instruction.
And S403, the motor controller receives the power output instruction, controls the output of the driving motor and collects the rotating speed and the torque of the motor in real time.
S404, the motor controller judges whether the parking space limiter is reached, if so, the step S405 is executed, otherwise, the step S403 is executed.
And S405, the motor controller reports the parking space limiter.
S406, the automatic parking system judges whether parking is finished, if so, step S407 is executed, otherwise, step S402 is executed.
And S407, pulling up the EPB to finish self-defined parking.
Therefore, the existing device of the vehicle is utilized, the cost of the whole vehicle is not increased, the parking space limiter can be judged more accurately, and the accuracy and the reliability of automatic parking are improved.
According to the method for judging the parking space locator, when a vehicle is in an automatic parking mode, the actual rotating speed and the current torque of the driving motor at the current moment can be detected, the torque variation trend of the driving motor is identified based on the current torque according to the reduction value between the actual rotating speed and the actual rotating speed at any previous moment, and when the reduction value is larger than the preset threshold value and the torque variation trend is unchanged or continuously increased, the parking space is judged to be limited, and limit information is reported. Therefore, in the automatic parking operation process, the rotating speed and torque data are detected constantly, the vehicle state is judged according to the changed characteristic numerical values, and the parking space positioner is deduced, so that the problems that in the related technology, the parking space positioner cannot be effectively judged due to the ultrasonic radar used for automatic parking, the vehicle always malfunctions continuously at the parking space positioner, and even the parking space positioner is crossed to cause the failure of parking are solved, the accuracy and the reliability of automatic parking are improved, and the safety of the vehicle is ensured.
Next, a parking space locator determination device according to an embodiment of the present application will be described with reference to the drawings.
Fig. 5 is a block diagram illustrating a determination device of a parking space locator according to an embodiment of the present application.
As shown in fig. 5, the parking space locator determination device 10 includes: a detection module 100, an identification module 200, and a decision module 300.
The detection module 100 is configured to detect an actual rotation speed and a current torque of the driving motor at a current moment when the vehicle is in an automatic parking mode;
the identification module 200 is used for identifying a torque variation trend of the driving motor based on the current torque according to a reduction value between the actual rotating speed and the actual rotating speed at any moment in the past; and
the determination module 300 is configured to determine that the parking space limit is reached and report limit information if the reduction value is greater than the preset threshold value and the torque variation trend is unchanged or continuously increased.
Optionally, after determining that the parking space limit is reached, the determination module 300 is further configured to:
increasing the torque of the driving motor to the allowable maximum torque according to a preset increasing strategy;
detecting a current rotation speed of the driving motor after increasing to the allowable maximum torque;
and if the current rotating speed is less than the limiting rotating speed, further determining that the parking space limit is reached.
Optionally, the above-mentioned device 10 for determining a parking space locator further includes:
the judging module is used for judging whether the vehicle finishes parking;
and the braking module is used for pulling up the electronic parking braking system of the vehicle when the vehicle finishes parking.
Optionally, the above-mentioned device 10 for determining a parking space locator further includes:
and the reporting module is used for judging that the parking space limit is reached and reporting limit information if the actual rotating speed is zero and the torque variation trend is unchanged or continuously increased.
Optionally, the above-mentioned device 10 for determining a parking space locator further includes:
and the protection module is used for executing a limiting protection action on the vehicle when the parking space is limited.
It should be noted that the explanation of the embodiment of the method for determining a parking space locator is also applicable to the determination device of the parking space locator of this embodiment, and is not repeated here.
According to the judging device of the parking space locator, when a vehicle is in an automatic parking mode, the actual rotating speed and the current torque of the driving motor at the current moment can be detected, the torque variation trend of the driving motor is identified based on the current torque according to the reduction value between the actual rotating speed and the actual rotating speed at any previous moment, and when the reduction value is larger than the preset threshold value and the torque variation trend is unchanged or continuously increased, the parking space is judged to be limited, and limiting information is reported. Therefore, in the automatic parking operation process, the rotating speed and torque data are detected constantly, the vehicle state is judged according to the changed characteristic numerical values, and the parking space positioner is deduced, so that the problems that in the related technology, the parking space positioner cannot be effectively judged due to the ultrasonic radar used for automatic parking, the vehicle always malfunctions continuously at the parking space positioner, and even the parking space positioner is crossed to cause the failure of parking are solved, the accuracy and the reliability of automatic parking are improved, and the safety of the vehicle is ensured.
Fig. 6 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:
a memory 601, a processor 602, and a computer program stored on the memory 601 and executable on the processor 602.
The processor 602 executes the program to implement the method for determining the parking space locator provided in the above embodiments.
Further, the vehicle further includes:
a communication interface 603 for communication between the memory 601 and the processor 602.
The memory 601 is used for storing computer programs that can be run on the processor 602.
If the memory 601, the processor 602 and the communication interface 603 are implemented independently, the communication interface 603, the memory 601 and the processor 602 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 6, but this is not intended to represent only one bus or type of bus.
Optionally, in a specific implementation, if the memory 601, the processor 602, and the communication interface 603 are integrated on a chip, the memory 601, the processor 602, and the communication interface 603 may complete mutual communication through an internal interface.
The processor 602 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present Application.
The embodiment also provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the above method for determining a parking space locator.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of implementing the embodiments of the present application.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
Claims (10)
1. The method for judging the parking space locator is characterized by comprising the following steps of:
when the vehicle is in an automatic parking mode, detecting the actual rotating speed and the current torque of a driving motor at the current moment;
identifying a torque variation trend of the driving motor based on the current torque according to a reduction value between the actual rotating speed and the actual rotating speed at any moment in the past; and
and if the reduction value is larger than a preset threshold value and the torque variation trend is unchanged or continuously increased, judging that the parking space limit is reached, and reporting limit information.
2. The method of claim 1, after determining that the parking stall limit has been reached, further comprising:
increasing the torque of the driving motor to an allowable maximum torque according to a preset increasing strategy;
detecting a current rotation speed of the driving motor after increasing to the allowable maximum torque;
and if the current rotating speed is less than the limiting rotating speed, further determining that the parking space limit is reached.
3. The method of claim 1, further comprising:
judging whether the vehicle finishes parking;
pulling up the electronic parking brake system of the vehicle when the vehicle finishes parking.
4. The method of claim 1, further comprising:
and if the actual rotating speed is zero and the torque variation trend is unchanged or continuously increased, judging that the parking space limit is reached, and reporting the limit information.
5. The method of claim 1, further comprising:
and when the parking space limit is reached, executing a limit protection action on the vehicle.
6. The utility model provides a parking stall locator's decision-making device which characterized in that includes:
the detection module is used for detecting the actual rotating speed and the current torque of the driving motor at the current moment when the vehicle is in the automatic parking mode;
the identification module is used for identifying the torque variation trend of the driving motor based on the current torque according to a reduction value between the actual rotating speed and the actual rotating speed at any moment in the past; and
and the judging module is used for judging that the parking space limit is reached and reporting limit information if the reduction value is greater than a preset threshold value and the torque variation trend is unchanged or continuously increased.
7. The apparatus of claim 6, wherein after determining that the parking stall limit is reached, the determination module is further configured to:
increasing the torque of the driving motor to an allowable maximum torque according to a preset increasing strategy;
detecting a current rotation speed of the driving motor after increasing to the allowable maximum torque;
and if the current rotating speed is less than the limiting rotating speed, further determining that the parking space limit is reached.
8. The apparatus of claim 6, further comprising:
the judging module is used for judging whether the vehicle finishes parking;
and the braking module is used for pulling up the electronic parking braking system of the vehicle when the vehicle finishes parking.
9. A vehicle, characterized by comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the method for determining a parking space locator according to any one of claims 1 to 5.
10. A computer-readable storage medium, on which a computer program is stored, the program being executed by a processor for implementing the method of determining a parking space locator according to any one of claims 1 to 5.
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