Patent ID: 12211290

DETAILED DESCRIPTION

The present disclosure will now be described with reference to the accompanying drawings, in which preferred example embodiments of the disclosure are shown. The disclosure may, however, be embodied in other forms and should not be construed as limited to the herein disclosed embodiments. The disclosed embodiments are provided to fully convey the scope of the disclosure to the skilled person.

FIG.1Aillustrates an overview of the vehicle parking finder support system. The first aspect of this disclosure discloses a vehicle parking finder support system100for determining if a vehicle1is at a reference parking location.

According to some embodiments the reference parking location is a location within a predefined distance from a geographical position. According to some embodiments the reference parking location is a location defined by certain geographical boundaries. According to some embodiments the reference parking location is a location defined by boundaries of a parking lot. According to some embodiments the reference parking location refers to a desired or correct parking location. According to some embodiments the vehicle parking finder support system100is configured to determine if the vehicle1is at one reference parking location out of a plurality of reference parking locations. In an example a vehicle occupant may have a certain parking location at home, a certain parking location at work and a certain parking location at another location where the vehicle can be parked without violating rules and getting a parking ticket that are all reference parking locations.

The vehicle parking finder support system100comprises at least a first camera30a,30b,30c,30dconfigured to provide images of the surroundings of the vehicle1.FIG.1Billustrates the at least first camera30a,30b,30c,30dconfigured to provide images of the surroundings of the vehicle. In an example the at least first camera30a,30b,30c,30dis mounted on the outside or on the inside of the vehicle1. According to some embodiments the at least first camera30a,30b,30c,30dis integrated into the body of the vehicle1. According to some embodiments the at least first camera30a,30b,30c,30dobtains at least first image data im1, im2, im3of at least a first exterior view of the surroundings outside of the vehicle1.FIGS.2A-2Cillustrates a first example set of obtained image data of the surroundings of the vehicle.FIGS.3A-3Cillustrates a second example set of obtained image data of the surroundings of the vehicle. According to some embodiments the at least first camera30a,30b,30c,30dobtains a wide angle view of the surroundings outside of the vehicle1by a wide angle lens of the at least first camera30a,30b,30c,30d. According to some embodiments the at least first camera30a,30b,30c,30dobtains is a telephoto view of the surroundings outside of the vehicle1by a telephoto lens of the at least first camera30a,30b,30c,30d. According to some embodiments vehicle parking finder support system100comprises a combination of different cameras30a,30b,30c,30dfor providing both a wide angle view and a telephoto view of the surroundings outside of the vehicle1. According to some embodiments, as illustrated inFIG.1B, a first camera30aand a second camera30bare configured to obtain at least a first exterior view and a second exterior view that are overlapping. This is exemplified further in theFIGS.2A and2Bwhere the “D88” sign and the “P” sign are overlapping in the first image data im1and the second image data im2.

The vehicle parking finder support system100further comprises a memory101a,101b,101cconfigured to store data. According to some embodiments the memory101ais the memory of an on-board vehicle computer. According to some embodiments the memory101bis comprised in a portable electronic device connected to vehicle parking finder support system100via a wireless communication network50, as illustrated inFIG.1A. According to some embodiments the memory101cis comprised in an electronic device connected to vehicle parking finder support system100via a wireless communication network50, as illustrated inFIG.1A.

The vehicle parking finder support system100further comprises a processing circuitry102a,102b,102c. According to some embodiments the processing circuitry102ais the processing circuitry of an on-board vehicle computer. According to some embodiments the processing circuitry102bis comprised in a portable electronic device connected to vehicle parking finder support system100via a wireless communication network50, as illustrated inFIG.1A. According to some embodiments the processing circuitry102bis comprised in a portable electronic device connected to vehicle parking finder support system100via a wired connection. According to some embodiments the processing circuitry102cis comprised in an electronic device connected to vehicle parking finder support system100via a wireless communication network50, as illustrated inFIG.1A.

In one example the wireless communication network50, as illustrated inFIG.1Ais a standardized wireless local area network such as a Wireless Local Area Network, WLAN, Bluetooth™, ZigBee, Ultra-Wideband, Near Field Communication, NFC, Radio Frequency Identification, RFID, or similar network. In one example the wireless communication network50is a standardized wireless wide area network such as a Global System for Mobile Communications, GSM, Extended GSM, General Packet Radio Service, GPRS, Enhanced Data Rates for GSM Evolution, EDGE, Wideband Code Division Multiple Access, WCDMA, Long Term Evolution, LTE, Narrowband-IoT, 5G, Worldwide Interoperability for Microwave Access, WiMAX or Ultra Mobile Broadband, UMB or similar network. According to some aspects wireless communication network50can also be a combination of both a local area network and a wide area network. According to some embodiments the wireless communication network50is defined by common Internet Protocols.

The processing circuitry102a,102b,102cis operatively connected to the at least first camera30a,30b,30c,30dand the memory101a,101b,101c, configured to cause the vehicle parking finder support system100to obtain, by the at least first camera30a,30b,30c,30d, at least first image data im1, im2, im3of the surroundings of the vehicle1; obtain, from the memory101a,101b,101c, at least first reference image data rim1, rim2, rim3; and determine if the vehicle1is at the reference parking location using the at least first reference image data rim1, rim2, rim3and the obtained at least first image data im1, im2, im3.

An advantage is that the content of the reference image data can be used for comparing the content of the at least first image data of the surroundings of the vehicle to determine if the vehicle is at the reference parking location. According to some embodiments the at least first reference image data rim1, rim2, rim3comprising previously obtained image data of the surroundings of the vehicle1. According to some embodiments the at least first reference image data rim1, rim2, rim3comprising previously obtained image data of the surroundings of the vehicle1at a desired location to be used as the reference parking location.

According to some embodiments the at least first reference image data rim1, rim2, rim3comprising video image data. According to some embodiments the vehicle1is moving when determining if the vehicle1is at a reference parking location. According to some embodiments the vehicle1is moving when determining if the vehicle1is at a reference parking location and the obtained at least first image data im1, im2, im3comprising video data. According to some embodiments the vehicle1is moving when determining if the vehicle1is at a reference parking location and the at least first reference image data rim1, rim2, rim3comprising video image data.

According to some embodiments the at least first reference image data rim1, rim2, rim3is associated with a direction data. According to some embodiments the direction data comprising the exterior view direction of the at least first camera30a,30b,30c,30din relation to the direction of travel of the vehicle1. According to some embodiments, the direction data is defined by vector data in a three dimensional space.

In an example the reference image data rim1, rim2, rim3is illustrated in theFIGS.2A-2Cand the obtained image data im1, im2, im3is illustrated inFIGS.3A-3C. The at least first reference image data rim1, rim2, rim3and the obtained at least first image data im1, im2, im3are then used to determine if the vehicle1is at the reference parking location.

According to some embodiments the vehicle parking finder support system100further comprises a user interface400a,400b. According to some embodiments the user interface400ais the user interface of an on-board vehicle computer. According to some embodiments the user interface400bis comprised in a portable electronic device connected to vehicle parking finder support system100via a wireless communication network50, as illustrated inFIG.1A. According to some embodiments the vehicle parking finder support system100further comprises at least a first display configured to display the at least first exterior view provided by the at least first camera30a,30b,30c,30d. According to some embodiments the at least first display is a part of the vehicle parking finder support system100. According to some embodiments the at least first display is integrated in the dashboard of the vehicle. According to some embodiments the at least first display is a head-up display that is visible at or on at least a first window of the vehicle1. According to some embodiments the at least first display is a separate display unit that can be placed at a desired location in the vehicle1by the vehicle occupant5. According to some embodiments the at least first display is a display that is comprised in a portable electronic device connected to vehicle parking finder support system100via a wireless communication network50. According to some embodiments the at least a first display is a touch sensible display configured to operate as the user interface400a,400b.

The user interface400a,400bis operatively connected to the processing circuitry102a,102b,102cconfigured to receive user input by a vehicle occupant5, and the processing circuitry102a,102b,102cis further configured to, cause the vehicle parking finder support system100to receive, via the user interface400a,400b, a first input by the vehicle occupant5indicative of that the vehicle1is at the reference parking location; obtain, by the at least first camera30a,30b,30c,30d, at least first image data im1, im2, im3of the surroundings of the vehicle1while the vehicle1remains at the reference parking location; and store the at least first image data im1, im2, im3as reference image data rim1, rim2, rim3in the memory101a,101b,101c. According to some embodiments the processing circuitry102a,102b,102cis further configured to determine if the vehicle1is not moving and prompt a vehicle occupant5, via the user interface400a,400bto indicate, by a first input, if the vehicle1is at the reference parking location. According to some embodiments it can be determined if the vehicle1is not moving by determining at least one of that: the vehicle is turned off; the parking brake is applied; the vehicle1has been idle longer than a predetermined time; the vehicle is driving at a speed slower than a predetermined value. In an example, each of the cameras30a,30band30dobtains image data of the surroundings of the vehicle1simultaneously while the vehicle1remains at the reference parking location. The cameras30a,30band30dobtain the image data as illustrated inFIGS.2A-2C. In the example, the obtained image data is then stored as reference image data rim1, rim2, rim3as illustrated inFIGS.2A-2C.

An advantage is that the vehicle occupant5can indicate to the vehicle parking finder support system100via the user interface400a,400bwhen the vehicle1is at the location that is going to be the reference parking location, so that the obtained at least first image data of the surroundings of the vehicle1while the vehicle remains at the reference parking location, can be stored as reference image data in the memory.

According to some embodiments the vehicle parking finder support system100further comprises a position sensor40. According to some embodiments the position sensor40is a Global Positioning System sensor.FIGS.1A and1Billustrates the position sensor40as a part of the vehicle. According to some embodiments position sensor is comprised in a portable electronic device connected to vehicle parking finder support system100via a wireless communication network50. According to some embodiments the position sensor is operatively connected to the processing circuitry102a,102b,102cconfigured to determine the geographical location of the vehicle1, and the processing circuitry102a,102b,102cis further configured to, cause the vehicle parking finder support system100to obtain, by the position sensor40, parking location data associated with the location of the vehicle1while the vehicle1remains at the reference parking location; and store the parking location data as reference parking location data.

An advantage with this is that the vehicle occupant can then indicate to the vehicle parking finder support system100via the user interface400a,400bwhen the vehicle is at the location that is going to be the reference parking location, so that the obtained parking location data then can be stored as reference parking location data in the memory.

According to some embodiments the processing circuitry102a,102b,102cis further configured to cause the vehicle parking finder support system100to: obtain, by the position sensor40, parking location data associated with the location of the vehicle1; obtain, from the memory101a,101b,101c, reference parking location data; and determine if the vehicle1is at the reference parking location using the reference parking location data and the obtained parking location data. An advantage with this is that the information about the geographical location of the vehicle1can hence be compared with the reference parking location data to determine if the vehicle1is back at the reference parking location. According to some embodiments the reference parking location data is used in addition to the reference image data rim1, rim2, rim3to determine if the vehicle1is at the reference parking location.

According to some embodiments the processing circuitry102a,102b,102cis further configured to, cause the vehicle parking finder support system100to identify the presence of at least a first object5a,5b,5c,5din the at least first image data im1, im2, im3by object recognition processing of the at least first image data im1, im2, im3; and store attributes of the identified at least first object5a,5b,5c,5das object attribute data in the memory101a,101b,101c. An advantage with identifying the presence of at least a first object5a,5b,5c,5dand storing attributes of the identified at least first object5a,5b,5c,5dis that the object attribute data can be used to define the content of the at least first image data im1, im2, im3. This in turn can be used when e.g. comparing the content of the at least first image data im1, im2, im3with the content of the reference image data rim1, rim2, rim3. According to some embodiments the attributes of the identified at least first object5a,5b,5c,5dcomprising at least any of a color; a vehicle model; a vehicle brand; a text; a number; an object category; a text and number; a shape; a form factor; a status. In an example an identified object is stored with attributes such as “vehicle”, “Geely”, “SUV”, “license plate number ABC12A” and “green”. In the example illustrations inFIG.2Athe attributes of the object5aare “road sign”, “parking”, “blue” and “static”, the attributes of the object5bare “number”, “D88”, “white” and “static”. Further, in the example inFIG.2Bthe attributes of the object5care “bike”, “vehicle”, “red” and “movable”. Further, in the example inFIG.2Cthe attributes of the object5dare “truck”, “white” and “movable”.

According to some embodiments the processing circuitry102a,102b,102cis further configured to, cause the vehicle parking finder support system100to identify the presence of at least a first object5a,5b,5c,5din the at least first image data im1, im2, im3by object recognition processing of the at least first image data im1, im2, im3; store attributes of the identified at least first object5a,5b,5c,5das object attribute data in the memory101a,101b,101c; determine an object weight value dependent on the attribute of the at least first object5a,5b,5c,5d; and store attributes of the identified at least first object5a,5b,5c,5dtogether with the determined object weight value as object attribute data in the memory101a,101b,101c.

According to some embodiments, the object weight value is used to determine if the vehicle1is at the reference parking location, wherein the object weight value is used for giving at least a first object5a,5b,5c,5da higher importance in the determination if the vehicle1is at the reference parking location. In an example, an object with the attribute “movable” may be of less importance compared to another object with the attribute “static”. In an example, a sign given the attribute “static” may have a higher importance than a truck that is given the attribute “movable”.

According to some embodiments the reference image data rim1, rim2, rim3further comprises personal attribute data associated with at least any of the vehicle1and the vehicle occupant5. In an example the personal attribute data comprising any of the name of the vehicle occupant, the license plate number of the vehicle1and the name of e.g. a company, an organization or an association that is associated with any of the vehicle occupant5and the vehicle1. According to some embodiments the personal attribute data is indicated by a personal attribute selection input by the vehicle occupant5via the user interface400a,400bindicative of that the attribute data is personal attribute data. According to some embodiments the processing circuitry102a,102b,102cis further configured to, cause the vehicle parking finder support system100to obtain, from the memory101a,101b,101c, at least first reference image data rim1, rim2, rim3comprising personal attribute data; and determine if the vehicle1is at the reference parking location using the at least first reference image data rim1, rim2, rim3comprising personal attribute data and the obtained at least first image data im1, im2, im3.

According to some embodiments the object attribute data is based on at least a first reference point R found in the image by object recognition processing of the at least first image data im1, im2, im3.FIG.4Aillustrates example reference points R. According to some embodiments when storing attributes of the identified at least first object5a,5b,5c,5das object attribute data in the memory101a,101b,101c, the object attribute data is based on specific reference points R found in the image by object recognition processing of the at least first image data im1, im2, im3.FIG.4Aillustrates an example where specific reference points R, that are found in the image by object recognition processing of the at least first image data im1, im2, im3, are used when storing attributes of the identified at least first object5a,5b,5c,5das object attribute data in the memory101a,101b,101c.

In an example, the obtained image data, comprising the object attribute data of the identified objects5a,5b,5c,5d, is stored as reference image data rim1, rim2, rim3, in the memory101a,101b,101c. In the example the at least first reference image data rim1, rim2, rim3and the obtained at least first image data im1, im2, im3comprising object attribute data, is used to determine if the vehicle1is at the reference parking location. In the example the reference image data rim1, rim2, rim3is illustrated in theFIGS.2A-2Cand the obtained image data im1, im2, im3is illustrated inFIGS.3A-3C. The at least first reference image data rim1, rim2, rim3and the obtained at least first image data im1, im2, im3are then used to determine if the vehicle1is at the reference parking location. When comparing the image data as illustrated inFIGS.2A and3Anothing is changed, which indicates that the vehicle1seems to be at the reference parking location. However, when comparing the image data as illustrated inFIGS.2B and3Bthe object5c, the bike, is missing. Further, when comparing the image data as illustrated inFIGS.2C and3Cthe object5d, the truck, is missing. Even if there is a deviation in the image data, the vehicle parking finder support system100may still determine that the vehicle1is at the reference parking location if e.g. a certain number of objects can be identified.

According to some embodiments the processing circuitry102a,102b,102cis further configured to, cause the vehicle parking finder support system100to: associate object attribute data with a time stamp data; and determine the presence of the at least first object5a,5b,5cin the at least first image data im1, im2, im3dependent on the time of day, based on the object attribute data and the time stamp data. An advantage with the time stamp data is that e.g. a history data describing when a certain object is present in the at least first image data can be generated and i.e. the relevance of the certain object in the at least first image can be determined dependent on the time of the day. E.g. in an example, the certain object occurred with a 95% certainty between 17:30 and 07:00 over the last 20 days. If the certain object is not present at21:00the next day a flag may be generated by the vehicle parking finder support system to indicate a deviation from the normal presence of the certain object, and that this in turn may be an indication that the vehicle1may be at a wrong parking location. According to some embodiments the processing circuitry102a,102b,102cis further configured to, cause the vehicle parking finder support system100to: associate object attribute data with a time stamp data; and determine the presence of the at least first object5a,5b,5cin the at least first image data im1, im2, im3dependent on the day of the year, based on the object attribute data and the time stamp data. In an Example it is determined if the day of the year is a working day or a non-working day, a weekday or a weekend, or a holiday. According to some embodiments the time stamp data can also be used if there is a change in the normal surroundings of the vehicle1. If e.g. the owner of a neighboring vehicle, that usually is parked beside the vehicle1, trades the neighboring vehicle for a new neighboring vehicle the surroundings of the vehicle1is changed. With the time stamp data the new neighboring vehicle will over time be the expected vehicle to be beside the vehicle1. The same situation applies if the neighboring parking is changing owner or user.

The second aspect of this disclosure shows a method for determining if a vehicle1is at a reference parking location.FIG.5illustrates a flow chart of the method steps according to the disclosure. The method comprising the step S4obtaining, by at least a first camera30a,30b,30c,30d, at least first image data im1, im2, im3of the surroundings of the vehicle1; the step S5obtaining, from a memory101a,101b,101c, at least first reference image data rim1, rim2, rim3; and the step S6determining if the vehicle1at the reference parking location using the at least first reference image data rim1, rim2, rim3and the obtained at least first image data im1, im2, im3.

An advantage is that the content of the reference image data can be used for comparing the content of the at least first image data of the surroundings of the vehicle to determine if the vehicle is at the reference parking location.

According to some embodiments the method further comprises the step: S1receiving, via a user interface400a,400b, a first input by the vehicle occupant indicative of that the vehicle1is at a reference parking location; the step S2obtaining, by the at least first camera30a,30b,30c,30d, at least first image data im1, im2, im3of the surroundings of the vehicle1while the vehicle1remains at the reference parking location; and the step S3storing the at least first image data im1, im2, im3as reference image data rim1, rim2, rim3in the memory101a,101b,101c.

An advantage is that the vehicle occupant5can then indicate to the vehicle parking finder support system100via the user interface400a,400bwhen the vehicle1is at the location that is going to be the reference parking location, so that the obtained at least first image data of the surroundings of the vehicle, while the vehicle remains at the reference parking location, can be stored as reference image data rim1, rim2, rim3in the memory101a,101b,101c.

According to some embodiments when storing the at least first image data im1, im2, im3as reference image data rim1, rim2, rim3in the memory (101a,101b,101c), attributes of the identified at least first object5a,5b,5c,5din the at least first image data im1, im2, im3is stored together with the reference image data rim1, rim2, rim3in the memory101a,101b,101c.

According to some embodiments the method further comprises: identifying the presence of at least a first object5a,5b,5c,5din the at least first image data im1, im2, im3by object recognition processing of the at least first image data im1, im2, im3; and storing attributes of the identified at least first object5a,5b,5c,5das object attribute data in the memory101a,101b,101c.

An advantage with identifying the presence of at least a first object and storing attributes of the identified at least first object is that the object attribute data can be used to define the content of the at least first image data.

According to some embodiments the method further comprises: associating object attribute data with a time stamp data; and determining the presence of the at least first object5a,5b,5cin the at least first image data im1, im2, im3dependent on the time of day, based on the object attribute data and the time stamp data.

An advantage with the time stamp data is that e.g. a history data describing when a certain object is present in the at least first image data can be generated and i.e. the relevance of the certain object in the at least first image, dependent on the time of the day.

According to some embodiments when determining if the vehicle1is at the reference parking location, the method comprises comparing object attribute data of the at least first reference image data rim1, rim2, rim3with object attribute data of the obtained at least first image data im1, im2, im3.

An advantage with comparing object attribute data of the at least first image data with the object attribute data of the reference image data is that less information is used that will enhance comparing the content of the reference image data with the content of the at least first image data, which in turn saves processing capacity and processing time of the processing circuitry.

An advantage with comparing object attribute data of the at least first image data with the object attribute data of the reference image data is that less data of the total image data is used that will enhance comparing the content of the reference image data with the content of the at least first image data, which in turn saves processing capacity and processing time of the processing circuitry.

According to some embodiments when comparing the attribute data of the at least first image data with the object attribute data of the reference image data, specific reference points of the reference image data is used for determining if the same reference points exist in the at least first image data.

According to some embodiments it is determined that the vehicle1is at the reference parking location when the attributes of the object attribute data of the obtained at least first image data im1, im2, im3equals, or is above a predefined object attribute threshold value, when comparing with the attributes of the object attribute data of the at least first reference image data rim1, rim2, rim3. An advantage with this is that the attribute data of the obtained at least first image data does not need to be equal to the object attribute data of the at least first reference image data, but a certain deviation from the object attribute data of the at least first reference image data can be allowed and still it can be determined that the vehicle1is at the reference parking location.

In an example as illustrated inFIG.4A, the objects; the parking sign5a, the number sign5band the bike5c, are identified in an image by object recognition processing of the image data. Attributes of the identified objects5a,5b,5care stored as object attribute data in the memory101a,101b,101c. In the example the image data is stored as reference image data together with attributes of the identified objects5a,5b,5cin the memory101a,101b,101c.

According to some embodiments the object attribute data comprising at least a first reference point R identified by object recognition processing of the at least first image data im1, im2, im3. In the example the attributes of the identified objects5a,5b,5care based on a number of reference points R as illustrated inFIG.4A. At a later point in time when the vehicle is at the same location, it is determined that a certain number of reference points R are not present when comparing the attribute data of the obtained image, illustrated inFIG.4B, with the object attribute data of the at least first reference image. In particular, the bike5cthat was present when the at least first reference image data was stored is no longer at the location. In the example the four reference points of the bike5cdoes exist, but the remaining reference points R exits, as illustrated inFIG.4B. In the example the bike5cis removed, but reference points can also be non-detectable due to e.g. that an object is covered by snow etc. In the example, 4 out of 14 reference points are missing, which makes the attribute data of the obtained image to deviate from the object attribute data of the at least first reference image data. The deviation is based on the missing reference points, illustrated with reference points R having dotted lines in theFIG.4C. In the example the object attribute threshold value is set to allow object attribute data of the obtained image that is matching the object attribute data of the at least first reference image data to 70% or more. With 10 existing reference points out of 14 in the example means that 71% of the reference points seem to be right and in the example it is therefore determined that the vehicle1is at the reference parking location. According to some embodiments a plurality of images and a plurality of reference images are used for determining if the vehicle1is at the reference parking location. According to some embodiments a plurality of image data associated with certain object attribute data is compared with a plurality of reference image data associated with certain object attribute data for determining if the vehicle1is at the reference parking location. According to some embodiments the object attribute data of plural image data im1, im2, im3is compared with the object attribute data of plural reference image data rim1, rim2, rim3. In an example when the obtained first image data im1is compared with the first reference image data rim1, as illustrated inFIG.2AandFIG.2B, the object attribute data of the obtained first image data im1is matching the object attribute data of the first reference image data rim1to 100%. In the same example when the obtained second image data im2is compared with the second reference image data rim2, as illustrated inFIG.2BandFIG.3B, the object attribute data of the obtained second image im2is matching the object attribute data of the second reference image data rim2to 67%. In the same example when the obtained third image data im3is compared with the third reference image data rim3, as illustrated inFIG.2CandFIG.3C, the object attribute data of the obtained third image im3is matching the object attribute data of the third reference image data rim3to 78%. In the example the total matching is 83% which in the example is above a set object attribute threshold value of 70%, which then leads to a determination that the vehicle1is at the reference parking location. If the matching for each obtained image would have been different, and the total matching would have been below the set object attribute threshold value of 70%, then it would have been determined that the vehicle1is not at the reference parking location.

According to some embodiments in a determination that the vehicle1is at the reference parking location, the method further comprises: obtaining, by the at least first camera, at least first image data of the surroundings of the vehicle1while the vehicle1remains at the reference parking location; and storing the at least first image data as further reference image data in the memory101a,101b,101cfor providing additional reference image data to the reference image data collection of the vehicle parking finder support system100.

An advantage with this is that over time further reference image data can be generated in order to better determine if the vehicle is at the reference parking location based on the additional reference image data. Over time the surroundings of the correct parking location may change and with further reference image data in the memory that is more recent, additional and new object attribute data of the at least first reference image can be used.

According to some embodiments in a determination that the vehicle1is not at the reference parking location, generating a notification message for controlling the parking of the vehicle, wherein the notification message is at least any of: an output message intended for the vehicle occupant, transmitted via the user interface400a,400b, indicative of that the vehicle1is not at the reference parking location; and/or a control message to a vehicle operation support system, for controlling the operation of the vehicle1.

An advantage with this is that a vehicle occupant or a vehicle operation support system can take action to e.g. maneuver the vehicle to the correct parking location.

The third aspect of this disclosure shows a computer program product the second aspect comprising a non-transitory computer readable medium, having thereon a computer program comprising program instructions, the computer program being loadable into a processing circuitry102a,102b,102cand configured to cause execution of the method according to any of the second aspect through14when the computer program is run by the at least one processing circuitry102.

The person skilled in the art realizes that the present disclosure is not limited to the preferred embodiments described above. The person skilled in the art further realizes that modifications and variations are possible within the scope of the appended claims. Additionally, variations to the disclosed embodiments can be understood and effected by the skilled person in practicing the claimed disclosure, from a study of the drawings, the disclosure, and the appended claims.