A parking control method and device, vehicle and storage medium

Abstract

The application relates to a parking control method and device, a vehicle and a storage medium. The method comprises the following steps: when a vehicle needs to be parked in an end head parking space and the vehicle drives to a parking point of the end head parking space, a target area for realizing the U-turn of the vehicle outside the end head parking space is determined, a corresponding U-turn path set of the vehicle is determined by using a geometric programming algorithm based on the parking point and the target area, a target U-turn path corresponding to the vehicle is determined from the U-turn path set, the vehicle is controlled to drive from the parking point to a target parking-in point according to the target U-turn path, so that the U-turn of the vehicle is completed, and then a target storage path corresponding to the vehicle is determined by using an A-star algorithm based on the target parking-in point, the vehicle is controlled to drive from the target parking-in point to the end head parking space according to the target storage path, and the parking of the vehicle is completed. The application avoids the problem that the parking time is relatively long when the vehicle is parked in the end head parking space only by using the A-star algorithm, and improves the driving experience of the user.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a parking control method, device, vehicle, and storage medium. Background Art

[0002] With the development of intelligent vehicles, in order to improve the user's driving experience, vehicles are now often equipped with automatic parking functions. When the user needs to park, the automatic parking function in the vehicle can be used to enable the vehicle to plan a parking path for the vehicle to the parking space, and then control the vehicle's driving according to the parking path to complete the parking of the vehicle.

[0003] Currently, parking path planning is mostly done using the A-star algorithm. However, for end-of-parking spaces, using the A-star algorithm to plan parking paths consumes a large amount of computing resources and takes a long time to calculate, resulting in longer parking times and a negative impact on the user's driving experience. Summary of the Invention

[0004] One of the purposes of this application is to provide a parking control method, which avoids the problem of long parking time caused by only using the A-star algorithm to park a vehicle in an end parking space, thereby improving the user's driving experience; the second purpose of this application is to provide a parking control device; the third purpose of this application is to provide a vehicle; the fourth purpose of this application is to provide a storage medium.

[0005] To achieve the above objectives, in a first aspect, the present application provides a parking control method, comprising:

[0006] When a vehicle needs to park in an end parking space and the vehicle drives to a stop point of the end parking space, determining a target area corresponding to the vehicle, the target area being used to enable the vehicle to turn around outside the end parking space;

[0007] Determining a U-turn path set corresponding to the vehicle using a geometric programming algorithm based on the stop point and the target area, wherein all U-turn paths in the U-turn path set are located within the target area;

[0008] Determining a target U-turn path corresponding to the vehicle from the U-turn path set;

[0009] According to the target U-turn path, controlling the vehicle to travel from the stop point to a target parking point to complete the U-turn of the vehicle, wherein the target parking point is an end point of the target U-turn path;

[0010] Based on the target parking point, determine the target parking path corresponding to the vehicle using the A-star algorithm;

[0011] According to the target parking path, the vehicle is controlled to travel from the target parking point to the end parking space to complete the parking of the vehicle.

[0012] Optionally, each of the U-turn paths in the U-turn path set includes a plurality of U-turn sections;

[0013] The determining a target U-turn path corresponding to the vehicle from the U-turn path set includes:

[0014] For each of the U-turn paths in the U-turn path set, determining a U-turn time corresponding to each of the U-turn sections in the U-turn path;

[0015] determining a target U-turn time corresponding to the U-turn path according to all the U-turn times corresponding to all the U-turn sections included in the U-turn path;

[0016] Determining the U-turn path corresponding to the minimum target U-turn time from the U-turn path set;

[0017] The U-turn path corresponding to the minimum target U-turn time is determined as the target U-turn path corresponding to the vehicle.

[0018] Optionally, determining the U-turn time corresponding to each U-turn section in the U-turn path includes:

[0019] For each U-turn section in the U-turn path, obtaining a target road type of the road on which the U-turn section is located, a target road slope of the road on which the U-turn section is located, a target road pothole degree of the road on which the U-turn section is located, and a target vehicle type corresponding to the vehicle;

[0020] determining a target U-turn speed for the vehicle traveling in the U-turn section according to the target road type, the target road slope, the target road pothole degree, and the target vehicle type;

[0021] determining a target U-turn distance corresponding to the U-turn section;

[0022] The U-turn time corresponding to the U-turn section is determined according to the target U-turn distance corresponding to the U-turn section and the target U-turn speed corresponding to the U-turn section.

[0023] Optionally, determining a target U-turn speed for the vehicle traveling in the U-turn section according to the target road type, the target road slope, the target road pothole degree, and the target vehicle type includes:

[0024] Obtaining a preset parameter relationship set, the preset parameter relationship set including a plurality of preset parameter relationships, the preset parameter relationships being used to characterize a correspondence between a preset road type, a preset road slope, a preset road pothole degree, a preset vehicle type, and a preset U-turn speed;

[0025] Using the preset parameter relationship set, training a preset machine learning model to obtain a target speed model;

[0026] inputting the target road type, the target road slope, the target road pothole degree, and the target vehicle type into the target speed model, so that the target speed model outputs the preset U-turn speed;

[0027] determining the preset U-turn speed output by the target speed model as the target U-turn speed for the vehicle traveling in the U-turn section; or

[0028] Obtaining a preset U-turn speed for the vehicle traveling in the U-turn section;

[0029] determining a target correction value of the preset U-turn speed according to the target road type, the target road slope, the target road pothole degree, and the target vehicle type;

[0030] The preset U-turn speed is corrected according to the target correction value to determine a target U-turn speed for the vehicle traveling in the U-turn section.

[0031] Optionally, the target U-turn path includes a plurality of U-turn sections, and adjacent U-turn sections are connected by U-turn points;

[0032] The controlling the vehicle to travel from the stop point to the target parking point according to the target U-turn path to complete the U-turn of the vehicle includes:

[0033] Controlling the vehicle to start traveling from the stop point according to the target U-turn path;

[0034] Whenever the vehicle reaches a U-turn point in the target U-turn path, determining whether the target parking path corresponding to the vehicle is determined within a preset number of iterations using the A-star algorithm based on the U-turn point;

[0035] When the target parking path corresponding to the vehicle is not determined within the preset number of iterations, the vehicle is continuously controlled to travel according to the target U-turn path until the vehicle reaches the target parking point, thereby completing the U-turn of the vehicle.

[0036] Optionally, determining a set of U-turn paths corresponding to the vehicle using a geometric programming algorithm based on the stop point and the target area includes:

[0037] Taking the stop point as the starting point for the vehicle to turn around, determining a preset U-turn trajectory corresponding to the vehicle within the target area, the preset U-turn trajectory further comprising a plurality of trajectory turning points and a preset parking point, the preset parking point being the end point of the preset U-turn trajectory;

[0038] Determining a preset turning radius interval corresponding to the vehicle;

[0039] determining, based on the stop point and the preset turning radius interval, a U-turn point set corresponding to each turning point of the preset U-turn trajectory and a parking point set corresponding to the preset parking point, wherein all the U-turn points in the U-turn point set and all the parking points in the parking point set are located within the target area;

[0040] According to the preset U-turn trajectory, the stop point, all the U-turn points in the U-turn point set, and the parking points in the parking point set are connected to determine a U-turn path set corresponding to the vehicle.

[0041] Optionally, determining the target area corresponding to the vehicle includes:

[0042] Acquire a target lane currently located by the vehicle, and determine an area where the target lane is located as a first area;

[0043] acquiring a target image of an area adjacent to the first area;

[0044] Determining a blank area from the target image, and determining the blank area as a second area, wherein the blank area does not include an area where the end parking space is located, and the blank area is adjacent to the first area;

[0045] The first area and the second area are spliced ​​together to determine a target area corresponding to the vehicle.

[0046] To achieve the above objectives, in a second aspect, the present application provides a parking control device, comprising:

[0047] An area determination module is used to determine a target area corresponding to the vehicle when the vehicle needs to park in a terminal parking space and the vehicle drives to a stop point of the terminal parking space, wherein the target area is used to enable the vehicle to turn around outside the terminal parking space;

[0048] a path determination module, configured to determine, based on the stop point and the target area, a set of U-turn paths corresponding to the vehicle using a geometric programming algorithm, wherein all U-turn paths in the set of U-turn paths are located within the target area;

[0049] The path determination module is configured to determine a target U-turn path corresponding to the vehicle from the U-turn path set;

[0050] a control module, configured to control the vehicle to travel from the stop point to a target parking point according to the target U-turn path, so as to complete the U-turn of the vehicle, wherein the target parking point is an end point of the target U-turn path;

[0051] The path determination module is used to determine the target parking path corresponding to the vehicle using the A-star algorithm based on the target parking point;

[0052] The control module is further configured to control the vehicle to travel from the target parking point to the end parking space according to the target parking path, so as to complete the parking of the vehicle.

[0053] To achieve the above objectives, in a third aspect, the present application further provides a vehicle, comprising: a processor and a memory, wherein the processor is configured to execute a parking control program stored in the memory to implement the parking control method as described above.

[0054] To achieve the above objectives, in a fourth aspect, the present application further provides a storage medium, wherein the storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the parking control method as described above.

[0055] Beneficial effects of the present application: The present application provides a parking control method, which determines a target area for realizing a U-turn of the vehicle outside the end parking space when the vehicle needs to park at the end parking space and the vehicle drives to the stop point of the end parking space, and determines a U-turn path set corresponding to the vehicle based on the stop point and the target area using a geometric programming algorithm, and determines a target U-turn path corresponding to the vehicle from the U-turn path set, thereby controlling the vehicle to drive from the stop point to the target parking point according to the target U-turn path to complete the U-turn of the vehicle, and then, based on the target parking point, uses The A-star algorithm determines the target entry path corresponding to the vehicle, and controls the vehicle to drive from the target parking point to the end parking space according to the target entry path to complete the parking of the vehicle. When the vehicle is parked in the end parking space, the parking of the vehicle is divided into two parts. One part uses the geometric programming algorithm to realize the U-turn of the vehicle, and the other part uses the A-star algorithm to park the vehicle in the end parking space after the vehicle completes the U-turn. This avoids the problem of long parking time caused by only using the A-star algorithm to park the vehicle in the end parking space, thereby improving the user's driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 A schematic diagram showing a flow chart of a parking control method provided in an embodiment of the present application;

[0057] Figure 2A schematic diagram showing a flow chart of another parking control method provided by an embodiment of the present application;

[0058] Figure 3 A schematic flow chart illustrating another parking control method provided in an embodiment of the present application is shown;

[0059] Figure 4 A schematic diagram showing an end parking space provided in an embodiment of the present application;

[0060] Figure 5 A schematic structural diagram of a parking control device provided in an embodiment of the present application is shown;

[0061] Figure 6 A schematic structural diagram of a vehicle provided in an embodiment of the present application is shown.

[0062] in:

[0063] 10. Area determination module; 20. Path determination module; 30. Control module;

[0064] 600, vehicle; 601, processor; 602, memory; 6021, operating system; 6022, application; 603, user interface; 604, network interface; 605, bus system. DETAILED DESCRIPTION

[0065] The following will describe the embodiments of the present application with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand the other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be understood that the preferred embodiments are only for the purpose of illustrating the present application and are not intended to limit the scope of protection of the present application.

[0066] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application. Therefore, the illustrations only show components related to the present application and are not drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component can be changed at will, and the component layout type may also be more complicated.

[0067] To facilitate understanding of the embodiments of the present application, further explanation will be given below with reference to specific embodiments in conjunction with the accompanying drawings. The embodiments do not constitute a limitation on the embodiments of the present application.

[0068] refer to Figure 1 , Figure 1A flow chart of a parking control method is provided for an embodiment of the present application. The parking control method provided in an embodiment of the present application includes the following steps:

[0069] S101: When a vehicle needs to park at an end parking space and the vehicle drives to a stop point of the end parking space, a target area corresponding to the vehicle is determined.

[0070] In this embodiment, the target area is used to realize the U-turn of the vehicle outside the terminal parking space. Figure 4 As shown. When a vehicle needs to park in a terminal parking space and reaches the stop point for the terminal parking space, using the A-star algorithm to determine the parking path from the stop point to the terminal parking space would require a significant amount of computing power and time, thus impacting the user's driving experience. Therefore, in this embodiment, to improve the user's driving experience, the entire process of parking in the terminal parking space is divided into two parts: one for the vehicle turning around outside the terminal parking space, and the other for the vehicle parking in the terminal parking space after the U-turn.

[0071] Specifically, to enable a vehicle to make a U-turn outside of a terminal parking space, a target area corresponding to the vehicle is determined, allowing the vehicle to make a U-turn within the target area. The target area is determined based on the area of ​​the lane in which the vehicle is located. To determine the target area corresponding to the vehicle, an image capture device can be used to capture images of the vehicle's surroundings. Based on the captured images of the vehicle's surroundings, the target area corresponding to the vehicle is determined. The target area is a blank area and does not include the area where the terminal parking space is located.

[0072] It should be noted that when the vehicle is at a stop, the front of the vehicle is closer to the end parking space and the rear of the vehicle is farther away from the end parking space. After the vehicle completes a U-turn, the front of the vehicle is farther away from the end parking space and the rear of the vehicle is closer to the end parking space. After the vehicle is parked in the end parking space, the front of the vehicle faces the road where the vehicle is located and the rear of the vehicle is farther away from the road where the vehicle is located.

[0073] S102: Based on the stop point and the target area, a geometric programming algorithm is used to determine a U-turn path set corresponding to the vehicle.

[0074] In this embodiment, all U-turn paths in the U-turn path set are located within the target area. After determining the target area, a geometric programming algorithm is used to determine multiple U-turn paths within the target area based on the stop points and the target area to obtain a U-turn path set corresponding to the vehicle. Based on the U-turn path set, a U-turn path that meets the vehicle's U-turn requirements is determined, and the vehicle is then able to perform a U-turn within the target area according to the determined U-turn path.

[0075] S103: Determine a target U-turn path corresponding to the vehicle from the U-turn path set.

[0076] In this embodiment, in order to further improve the user's driving experience, the U-turn time of each U-turn path in the U-turn path set can be determined, so that the U-turn time corresponding to the U-turn path is used as a constraint condition, and the target U-turn path corresponding to the vehicle is determined from the U-turn path set. Then, the vehicle can complete the U-turn outside the end parking space according to the target U-turn path.

[0077] S104: According to the target U-turn path, the vehicle is controlled to travel from the stop point to the target parking point to complete the U-turn of the vehicle.

[0078] In this embodiment, the target U-turn path includes a starting point and an end point. The starting point is the parking point at the end parking space, and the end point is the target parking point of the target U-turn path. After obtaining the target U-turn path, the vehicle can be controlled to travel from the parking point according to the target U-turn path until it reaches the target parking point, thereby completing the U-turn outside the end parking space.

[0079] S105: Based on the target parking point, the target parking path corresponding to the vehicle is determined using the A-star algorithm.

[0080] In this embodiment, after the vehicle completes a U-turn in the end parking space, the vehicle's parking point in the end parking space is determined, and the target parking point is used as the starting point. Based on the target parking point and the parking point, the A-star algorithm is used to determine the target parking path from the target parking point to the parking point.

[0081] Among them, based on the starting point of travel and the target parking point, the A-star algorithm can be used to determine multiple parking paths from the target parking point to the parking point, thereby determining the shortest parking path from the multiple parking paths, and determining the shortest parking path as the target parking path corresponding to the vehicle.

[0082] S106: According to the target parking path, the vehicle is controlled to drive from the target parking point to the end parking space to complete the parking of the vehicle.

[0083] In this embodiment, after determining the target entry path, the vehicle is controlled to drive from the target parking point according to the target entry path until the vehicle drives to the parking point, so that the vehicle is parked in the end parking space, thereby avoiding the problem of long parking time caused by only using the A-star algorithm to park the vehicle in the end parking space, and improving the user's driving experience.

[0084] This embodiment provides a parking control method. When a vehicle needs to park in a terminal parking space and reaches a stop in the terminal parking space, a target area for enabling a U-turn outside the terminal parking space is determined. Based on the stop and the target area, a geometric programming algorithm is used to determine a set of U-turn paths corresponding to the vehicle. A target U-turn path corresponding to the vehicle is determined from the set of U-turn paths. The vehicle is then controlled to travel from the stop to a target parking entry point based on the target U-turn path to complete the U-turn. Based on the target parking entry point, an A-star algorithm is then used to determine a target entry path corresponding to the vehicle. Based on the target entry path, the vehicle is controlled to travel from the target parking entry point to the terminal parking space to complete parking. When the vehicle is parked in the terminal parking space, the parking process is divided into two parts: one part uses the geometric programming algorithm to achieve the U-turn, and the other part uses the A-star algorithm to park the vehicle in the terminal parking space after the U-turn is completed. This avoids the problem of long parking times caused by using only the A-star algorithm to park the vehicle in the terminal parking space, thereby improving the user's driving experience.

[0085] refer to Figure 2 , Figure 2 A flowchart of another parking control method is provided for an embodiment of the present application. A parking control method provided in an embodiment of the present application includes the following steps:

[0086] S201: When a vehicle needs to park at an end parking space and the vehicle drives to a stop point of the end parking space, a target area corresponding to the vehicle is determined.

[0087] In this embodiment, in step S201, determining the target area corresponding to the vehicle specifically includes:

[0088] Obtaining a target vehicle where the current vehicle is located, and determining an area where the target lane is located as a first area;

[0089] acquiring a target image of an area adjacent to the first area;

[0090] Determining a blank area from the target image, and determining the blank area as the second area;

[0091] The first area and the second area are spliced ​​together to determine the target area corresponding to the vehicle.

[0092] The blank area does not include the area where the end parking space is located. The blank area is adjacent to the first area, and the target image of the area adjacent to the first area can be obtained by the image acquisition device. Figure 4As shown, the area where the target lane is located is the dotted area. Normally, the target lane is a rectangle with a width equal to the width of the target lane and a length equal to the length of the target lane. At the same time, in order to take into account the use of the U-turn space as much as possible and to obtain the U-turn path with the shortest possible time, the U-turn space is increased in the determined first area. Specifically, a target image of the area adjacent to the target lane is acquired. After the target image is acquired, image processing technology is used to segment a blank area from the target image, and the segmented blank area is adjacent to the first area. After obtaining the blank area, the blank area is determined as the second area, and the first area and the blank area adjacent to it are spliced ​​to determine the target area corresponding to the vehicle, thereby increasing the U-turn space in the area where the target lane is located.

[0093] S202: Based on the stop point and the target area, a geometric programming algorithm is used to determine a U-turn path set corresponding to the vehicle.

[0094] In this embodiment, all U-turn paths in the U-turn path set are located within the target area. In step S202, based on the stop point and the target area, a geometric programming algorithm is used to determine the U-turn path set corresponding to the vehicle, specifically including:

[0095] Using the stop point as the starting point for the vehicle to turn around, the vehicle's corresponding preset turning trajectory is determined within the target area;

[0096] Determine a preset turning radius range corresponding to the vehicle;

[0097] Determine, based on the stop points and the preset turning radius interval, a U-turn point set corresponding to each turning point in the preset U-turn trajectory and a parking point set corresponding to the preset parking point;

[0098] According to the preset U-turn trajectory, the stop point, each preset U-turn point in the U-turn point set, and each parking point in the parking point set are connected to determine a U-turn path set corresponding to the vehicle.

[0099] The preset entry point is the endpoint of the preset U-turn trajectory. All U-turn points in the U-turn point set and all entry points in the entry point set are located within the target area. The preset U-turn trajectory and the preset turning radius range can be set according to actual needs. In this embodiment, there is no specific limitation on the preset U-turn trajectory. The preset U-turn trajectory is used to allow the vehicle to travel along the preset U-turn trajectory, thereby making a U-turn outside the terminal parking space. The preset U-turn trajectory is essentially a rough U-turn path. To improve the user's driving experience, a target U-turn path that meets the vehicle's U-turn requirements is determined based on the preset U-turn trajectory.

[0100] Specifically, the preset turning radius interval can be divided according to preset intervals to obtain multiple preset turning radii. The preset intervals can be set according to actual needs and are not specifically limited in this embodiment. After obtaining the preset U-turn trajectory and the multiple preset turning radii, multiple U-turn points adjacent to the stop point within the target area are determined based on the stop point and the multiple preset turning radii. The multiple U-turn points adjacent to the stop point are then defined as a U-turn point set corresponding to the trajectory inflection points adjacent to the stop point. Starting from this U-turn point set, for each U-turn point in the U-turn point set, multiple U-turn points adjacent to the U-turn point within the target area are determined based on the U-turn point and the multiple preset turning radii to obtain U-turn point sets corresponding to each U-turn point in the U-turn point set. The resulting multiple U-turn point sets are then defined as U-turn point sets corresponding to the trajectory inflection points adjacent to the aforementioned U-turn points. Similarly, U-turn point sets corresponding to each trajectory inflection point in the preset U-turn trajectory can be obtained. After obtaining a U-turn point set corresponding to all trajectory turning points in a preset U-turn trajectory, a U-turn point set corresponding to trajectory turning points adjacent to a preset parking entry point is determined. For each U-turn point in the determined U-turn point set, based on the U-turn point and a plurality of preset turning radii, a plurality of parking entry points adjacent to the U-turn point in a target area are determined. All the determined parking entry points are determined as the parking point set corresponding to the preset parking entry point.

[0101] After obtaining a U-turn point set corresponding to each turning point in the preset U-turn trajectory and a parking entry point set corresponding to the preset parking entry point, the parking point, each U-turn point in the U-turn point set, and each parking entry point in the parking entry point set are sequentially connected according to the preset U-turn trajectory to obtain a plurality of U-turn paths. The determined plurality of U-turn paths are determined as a U-turn path set.

[0102] It should be noted that when determining the U-turn path, one U-turn point is determined from each U-turn point set and one parking point is determined from the parking point set, so that according to the preset U-turn trajectory, the parking point, the determined U-turn points, and the determined parking points are connected in sequence to obtain a U-turn path.

[0103] S203: For each U-turn path in the U-turn path set, determine a U-turn time corresponding to each U-turn section in the U-turn path.

[0104] S204: Determine a target U-turn time corresponding to the U-turn path according to all U-turn times corresponding to all U-turn sections included in the U-turn path.

[0105] S205: Determine a U-turn path corresponding to the minimum target U-turn time from the U-turn path set.

[0106] S206: Determine the U-turn path corresponding to the minimum target U-turn time as the target U-turn path corresponding to the vehicle.

[0107] With respect to steps S203 to S206 above, each U-turn path in the U-turn path set includes multiple U-turn sections. In this embodiment, to reduce vehicle parking time, the U-turn time corresponding to each U-turn section in the U-turn path set is determined. For each U-turn path in the U-turn path set, the sum of the U-turn times corresponding to all U-turn sections included in the U-turn path is determined to obtain a target U-turn time corresponding to the U-turn path. After obtaining the target U-turn times corresponding to each U-turn path in the U-turn path set, the U-turn path corresponding to the minimum target U-turn time is determined from the U-turn path set, and this U-turn path is then used as the target U-turn path for the vehicle.

[0108] It should be noted that in order to reduce the parking distance of the vehicle and improve the user's driving experience, the U-turn distance corresponding to each U-turn path in the U-turn path set is determined, and the U-turn path corresponding to the minimum U-turn distance is determined from the U-turn path set, and the U-turn path corresponding to the minimum U-turn distance is determined as the target U-turn path corresponding to the vehicle.

[0109] In the above, determining the U-turn time corresponding to each U-turn section in the U-turn path in step S203 specifically includes:

[0110] For each U-turn section in the U-turn path, obtain the target road type of the road where the U-turn section is located, the target road slope of the road where the U-turn section is located, the target road pothole degree of the road where the U-turn section is located, and the target vehicle type corresponding to the vehicle;

[0111] Determine the target U-turn speed of the vehicle in the U-turn section based on the target road type, target road slope, target road pothole degree, and target vehicle type;

[0112] Determine the target U-turn distance corresponding to the U-turn section;

[0113] The U-turn time corresponding to the U-turn section is determined according to the target U-turn distance corresponding to the U-turn section and the target U-turn speed corresponding to the U-turn section.

[0114] To simplify the problem, the target U-turn distance and time corresponding to a U-turn section are assumed to be linearly related. Therefore, the target U-turn speed for a vehicle traveling on a U-turn section is a fixed value. To determine the target U-turn speed for a vehicle traveling on a U-turn section, external factors that affect the target U-turn speed are considered. Based on these factors, the target U-turn speed for the U-turn section is determined. The U-turn time for the U-turn section is then determined as the ratio between the target U-turn distance and the target U-turn speed for the U-turn section.

[0115] Specifically, an image acquisition device can capture a road image of the vehicle's road, analyze the image using image processing techniques to obtain road material information, and then compare the road material information with preset material information corresponding to a preset road type to obtain target road information for the road where the U-turn section is located. The preset road type can include asphalt, cement, or dirt roads. Similarly, an image acquisition device can capture a road image of the vehicle's road, analyze the image using image processing techniques to obtain road surface information, road elevation, and road length. The road surface information can then be compared with preset road surface information corresponding to a preset pothole level to obtain a target pothole level for the road where the U-turn section is located. The preset pothole level can include low pothole level, medium pothole level, or high pothole level. The target road slope for the road where the U-turn section is located is determined based on the ratio between the road elevation and the road length. The target vehicle type can be selected from a small car, a medium car, or a large car. The target vehicle type is stored in the vehicle. When determining the turn time corresponding to the U-turn section, the target vehicle type corresponding to the vehicle can be obtained from the stored information.

[0116] In this embodiment, the target U-turn speed of the vehicle traveling on the U-turn section is determined based on the target road type, target road slope, target road pothole degree, and target vehicle type, specifically including:

[0117] Obtaining a preset parameter relationship set, the preset parameter relationship set including a plurality of preset parameter relationships, the preset parameter relationships being used to characterize a correspondence between a preset road type, a preset road slope, a preset road pothole degree, a preset vehicle type, and a preset U-turn speed;

[0118] Using a preset parameter relationship set, a preset machine learning model is trained to obtain a target speed model;

[0119] Inputting a target road type, a target road slope, a target road pothole degree, and a target vehicle type into a target speed model so that the target speed model outputs a preset U-turn speed;

[0120] The preset U-turn speed output by the target speed model is determined as the target U-turn speed for the vehicle traveling in the U-turn section.

[0121] The preset machine learning model can be selected based on actual needs, and the specific form of the preset machine learning model is not limited in this embodiment. The preset machine learning model is iteratively trained using a preset parameter relationship set to obtain a target speed model for outputting a preset U-turn speed. The target speed model is then used to determine the target U-turn speed for the vehicle traveling on the U-turn section, thereby reducing parking time while ensuring user comfort during the parking process.

[0122] In this embodiment, the above-mentioned determination of the target U-turn speed of the vehicle traveling in the U-turn section based on the target road type, the target road slope, the target road pothole degree, and the target vehicle type may further include:

[0123] Obtaining the preset U-turn speed of the vehicle traveling on the U-turn section;

[0124] Determine a target correction value corresponding to a preset U-turn speed based on the target road type, target road slope, target road pothole level, and target vehicle type;

[0125] The preset U-turn speed is corrected according to the target correction value to determine the target U-turn speed for the vehicle traveling on the U-turn section.

[0126] The preset U-turn speed can be set based on actual needs, and the specific value of the preset U-turn speed is not limited in this embodiment. To reduce parking time and ensure user comfort during the parking process, a first correspondence between a preset road type and a correction value, a second correspondence between a preset road slope and a correction value, a third correspondence between a preset road pothole level and a correction value, and a fourth correspondence between a preset vehicle type and a correction value are pre-set. Based on the first correspondence and a target road type, a first correction value corresponding to the target road type is determined; based on the second correspondence and a target road slope, a second correction value corresponding to the target road slope is determined; based on the third correspondence and a target road pothole level, a third correction value corresponding to the target road pothole level is determined; and based on the fourth correspondence and a target vehicle type, a fourth correction value corresponding to the target vehicle type is determined. The sum of the first, second, third, and fourth correction values ​​is determined to obtain a target correction value. The target correction value is then multiplied by the preset U-turn speed, and this product is determined as the target U-turn speed for the vehicle traveling on the U-turn section.

[0127] S207: According to the target U-turn path, the vehicle is controlled to travel from the stop point to the target parking point to complete the U-turn of the vehicle.

[0128] In this embodiment, step S207 is consistent with the above-mentioned step S104. For details, please refer to the above-mentioned step S104, and this embodiment will not be described in detail here.

[0129] S208: Based on the target parking point, determine the target parking path corresponding to the vehicle using the A-star algorithm.

[0130] In this embodiment, the target entry path is actually the path between the target parking point and the parking point of the vehicle in the end parking space. When determining the target entry path, it can be achieved in the following way.

[0131] The target docking point is used as the starting point and the parking point is used as the end point.

[0132] The map environment is converted into a graph, where each traversable square represents a node (or vertex) in the graph, and edges connect adjacent nodes. The weight of each edge can be a fixed value, such as 1 unit distance, or it can be adjusted based on the specific situation (for example, increasing the distance to account for obstacles).

[0133] Define the cost function F=G+H of the A-star algorithm, where G represents the actual cost of moving from the starting point along the generated path to the specified square, H represents the estimated cost from the current grid to the end point, H is the Manhattan distance function, and define two sets, open set and closed set. The open set stores the nodes to be explored, and the closed set stores the nodes that have been explored.

[0134] Add the target entry point to the open set, initialize the cost function of the target entry point to 0, and add the target entry point to the open set.

[0135] Enter the loop: find the node with the smallest cost function in the open set, remove it from the open set, and add it to the closed set;

[0136] Determine whether the node is the end point, if not, continue;

[0137] Find all feasible nodes connected to the node (excluding obstacle points) around it, calculate the F value (i.e., the cost function value, determined by the sum of the G value and H value of the node), G value (i.e., the actual cost of moving from the starting point along the generated path to the current feasible node), and H value (i.e., the estimated cost from the current feasible node to the end point) of each feasible node, and perform the following operations on each feasible node:

[0138] 1) If the node is unreachable or already in the closed set, ignore it;

[0139] 2) If the node is not in the open set, add it to the open set, calculate the G value and H value of the node, and set the node as the parent node;

[0140] 3) If the node is already in the open set and the G value of reaching the node through the current node is smaller, then update the G value and parent node of the node.

[0141] Each time a node is added to the open set, it is determined whether the node is the end point. If so, it means that the shortest path has been found.

[0142] When the open set is empty, it means that the end point has not been found and the search ends.

[0143] Start from the end point and trace back along the parent node until you reach the starting point to get the shortest path (i.e. the target storage path).

[0144] S209: According to the target parking path, the vehicle is controlled to drive from the target parking point to the end parking space to complete the parking of the vehicle.

[0145] In this embodiment, step S209 is consistent with the above-mentioned step S106. For details, please refer to the above-mentioned step S106, which will not be described in detail in this embodiment.

[0146] This embodiment provides a parking control method. When a vehicle needs to park in a terminal parking space and reaches a stop in the terminal parking space, a target area for enabling a U-turn outside the terminal parking space is determined. Based on the stop and the target area, a geometric programming algorithm is used to determine a set of U-turn paths corresponding to the vehicle. A target U-turn path corresponding to the vehicle is determined from the set of U-turn paths. The vehicle is then controlled to travel from the stop to a target parking entry point based on the target U-turn path to complete the U-turn. Based on the target parking entry point, an A-star algorithm is then used to determine a target entry path corresponding to the vehicle. Based on the target entry path, the vehicle is controlled to travel from the target parking entry point to the terminal parking space to complete parking. When the vehicle is parked in the terminal parking space, the parking process is divided into two parts: one part uses the geometric programming algorithm to achieve the U-turn, and the other part uses the A-star algorithm to park the vehicle in the terminal parking space after the U-turn is completed. This avoids the problem of long parking times caused by using only the A-star algorithm to park the vehicle in the terminal parking space, thereby improving the user's driving experience.

[0147] refer to Figure 3 , Figure 3 A flowchart of another parking control method is provided for an embodiment of the present application. A parking control method provided in an embodiment of the present application includes the following steps:

[0148] S301: When a vehicle needs to park at an end parking space and the vehicle drives to a stop point of the end parking space, a target area corresponding to the vehicle is determined.

[0149] S302: Based on the stop point and the target area, a geometric programming algorithm is used to determine a U-turn path set corresponding to the vehicle.

[0150] S303: Determine a target U-turn path corresponding to the vehicle from the U-turn path set.

[0151] Regarding the above-mentioned steps S301 to S303, they are consistent with the above-mentioned steps. For details, please refer to the above-mentioned description, and they will not be described in detail in this embodiment.

[0152] S304: Control the vehicle to start traveling from the stop point according to the target U-turn path.

[0153] S305: Whenever the vehicle reaches a U-turn point in the target U-turn path, it is determined whether the target parking path corresponding to the vehicle is determined within a preset number of iterations using the A-star algorithm based on the U-turn point.

[0154] S306: When the target parking path corresponding to the vehicle is not determined within the preset number of iterations, the vehicle is continuously controlled to travel according to the target U-turn path until the vehicle reaches the target parking point, thereby completing the U-turn of the vehicle.

[0155] Regarding the above steps S304 to S306, the target U-turn path includes a plurality of U-turn sections, and adjacent U-turn sections are connected by U-turn points. In order to make the vehicle travel as little distance as possible during the parking process, the vehicle is controlled to start from the parking point according to the target U-turn path. Every time the vehicle reaches a U-turn point, the U-turn point is used as the starting point and the parking point of the vehicle in the end parking space is used as the end point. The target parking path between the starting point and the end point is determined using the A-star algorithm, and it is judged whether the target parking path is determined within the preset number of iterations. If the target parking path is determined within the preset number of iterations, it indicates that a large amount of computing resources is not occupied and the computing time is not too long. At this time, the vehicle can be controlled to travel from the above-mentioned U-turn point to the end parking space according to the target parking path; if the target parking path is not determined within the preset number of iterations, it indicates that further calculation of the target parking path using the A-star algorithm will occupy a large amount of computing resources and the computing time will be too long. At this time, the vehicle is continued to be controlled according to the target U-turn path until the vehicle reaches the target parking point to complete the vehicle's U-turn.

[0156] It should be noted that the preset number of iterations can be set according to actual needs, and the specific value of the preset number of iterations is not specifically limited in this embodiment.

[0157] S307: Based on the target parking point, determine the target parking path corresponding to the vehicle using the A-star algorithm.

[0158] S308: According to the target parking path, the vehicle is controlled to drive from the target parking point to the end parking space to complete the parking of the vehicle.

[0159] Regarding the above-mentioned steps S307 and S308, they are consistent with the above-mentioned ones. For details, please refer to the above description, and they will not be described in detail in this embodiment.

[0160] This embodiment provides a parking control method. When a vehicle needs to park in a terminal parking space and reaches a stop in the terminal parking space, a target area for enabling a U-turn outside the terminal parking space is determined. Based on the stop and the target area, a geometric programming algorithm is used to determine a set of U-turn paths corresponding to the vehicle. A target U-turn path corresponding to the vehicle is determined from the set of U-turn paths. The vehicle is then controlled to travel from the stop to a target parking entry point based on the target U-turn path to complete the U-turn. Based on the target parking entry point, an A-star algorithm is then used to determine a target entry path corresponding to the vehicle. Based on the target entry path, the vehicle is controlled to travel from the target parking entry point to the terminal parking space to complete parking. When the vehicle is parked in the terminal parking space, the parking process is divided into two parts: one part uses the geometric programming algorithm to achieve the U-turn, and the other part uses the A-star algorithm to park the vehicle in the terminal parking space after the U-turn is completed. This avoids the problem of long parking times caused by using only the A-star algorithm to park the vehicle in the terminal parking space, thereby improving the user's driving experience.

[0161] refer to Figure 5 , Figure 5 A schematic diagram of the structure of a parking control device provided in an embodiment of the present application. A parking control device provided in an embodiment of the present application includes: an area determination module 10, a path determination module 20, and a control module 30. The area determination module 10 is used to determine the target area corresponding to the vehicle when the vehicle needs to park at an end parking space and the vehicle drives to the stop point of the end parking space, and the target area is used to realize the U-turn of the vehicle outside the end parking space; the path determination module 20 is used to determine the U-turn path set corresponding to the vehicle based on the stop point and the target area using a geometric programming algorithm, and all U-turn paths in the U-turn path set are located in the target area; the path determination module 20 is used to determine the U-turn path set from the U-turn path set. a target U-turn path corresponding to the vehicle; a control module 30 for controlling the vehicle to travel from the stop point to a target parking point according to the target U-turn path to complete the U-turn of the vehicle, wherein the target parking point is the end point of the target U-turn path; the path determination module 20 for determining the target parking path corresponding to the vehicle using the A-star algorithm based on the target parking point; the control module 30 is further used to control the vehicle to travel from the target parking point to the end parking space according to the target parking path to complete the parking of the vehicle.

[0162] In this embodiment, each of the U-turn paths in the U-turn path set includes multiple U-turn sections.

[0163] In this embodiment, the path determination module 20 is further configured to:

[0164] For each of the U-turn paths in the U-turn path set, determining a U-turn time corresponding to each of the U-turn sections in the U-turn path;

[0165] determining a target U-turn time corresponding to the U-turn path according to all the U-turn times corresponding to all the U-turn sections included in the U-turn path;

[0166] Determining the U-turn path corresponding to the minimum target U-turn time from the U-turn path set;

[0167] The U-turn path corresponding to the minimum target U-turn time is determined as the target U-turn path corresponding to the vehicle.

[0168] In this embodiment, the path determination module 20 is further configured to:

[0169] For each U-turn section in the U-turn path, obtaining a target road type of the road on which the U-turn section is located, a target road slope of the road on which the U-turn section is located, a target road pothole degree of the road on which the U-turn section is located, and a target vehicle type corresponding to the vehicle;

[0170] determining a target U-turn speed for the vehicle traveling in the U-turn section according to the target road type, the target road slope, the target road pothole degree, and the target vehicle type;

[0171] determining a target U-turn distance corresponding to the U-turn section;

[0172] The U-turn time corresponding to the U-turn section is determined according to the target U-turn distance corresponding to the U-turn section and the target U-turn speed corresponding to the U-turn section.

[0173] In this embodiment, the path determination module 20 is further configured to:

[0174] Obtaining a preset parameter relationship set, the preset parameter relationship set including a plurality of preset parameter relationships, the preset parameter relationships being used to characterize a correspondence between a preset road type, a preset road slope, a preset road pothole degree, a preset vehicle type, and a preset U-turn speed;

[0175] Using the preset parameter relationship set, training a preset machine learning model to obtain a target speed model;

[0176] inputting the target road type, the target road slope, the target road pothole degree, and the target vehicle type into the target speed model, so that the target speed model outputs the preset U-turn speed;

[0177] determining the preset U-turn speed output by the target speed model as the target U-turn speed for the vehicle traveling in the U-turn section; or

[0178] Obtaining a preset U-turn speed for the vehicle traveling in the U-turn section;

[0179] determining a target correction value of the preset U-turn speed according to the target road type, the target road slope, the target road pothole degree, and the target vehicle type;

[0180] The preset U-turn speed is corrected according to the target correction value to determine a target U-turn speed for the vehicle traveling in the U-turn section.

[0181] In this embodiment, the target U-turn path includes a plurality of U-turn sections, and adjacent U-turn sections are connected by U-turn points.

[0182] In this embodiment, the control module 30 is further configured to:

[0183] Controlling the vehicle to start traveling from the stop point according to the target U-turn path;

[0184] Whenever the vehicle reaches a U-turn point in the target U-turn path, determining whether the target parking path corresponding to the vehicle is determined within a preset number of iterations using the A-star algorithm based on the U-turn point;

[0185] When the target parking path corresponding to the vehicle is not determined within the preset number of iterations, the vehicle is continuously controlled to travel according to the target U-turn path until the vehicle reaches the target parking point, thereby completing the U-turn of the vehicle.

[0186] In this embodiment, the path determination module 20 is further configured to:

[0187] Taking the stop point as the starting point for the vehicle to turn around, determining a preset U-turn trajectory corresponding to the vehicle within the target area, the preset U-turn trajectory further comprising a plurality of trajectory turning points and a preset parking point, the preset parking point being the end point of the preset U-turn trajectory;

[0188] Determining a preset turning radius interval corresponding to the vehicle;

[0189] determining, based on the stop point and the preset turning radius interval, a U-turn point set corresponding to each turning point of the preset U-turn trajectory and a parking point set corresponding to the preset parking point, wherein all the U-turn points in the U-turn point set and all the parking points in the parking point set are located within the target area;

[0190] According to the preset U-turn trajectory, the stop point, all the U-turn points in the U-turn point set, and the parking points in the parking point set are connected to determine a U-turn path set corresponding to the vehicle.

[0191] In this embodiment, the region determination module 10 is further configured to:

[0192] Acquire a target lane currently located by the vehicle, and determine an area where the target lane is located as a first area;

[0193] acquiring a target image of an area adjacent to the first area;

[0194] Determining a blank area from the target image, and determining the blank area as a second area, wherein the blank area does not include an area where the end parking space is located, and the blank area is adjacent to the first area;

[0195] The first area and the second area are spliced ​​together to determine a target area corresponding to the vehicle.

[0196] This embodiment provides a parking control device. When a vehicle needs to park in a terminal parking space and reaches a stop in the terminal parking space, the device determines a target area for enabling a U-turn outside the terminal parking space. Based on the stop and the target area, a geometric programming algorithm is used to determine a set of U-turn paths corresponding to the vehicle. A target U-turn path corresponding to the vehicle is then determined from the set of U-turn paths. The vehicle is then controlled to travel from the stop to a target parking entry point based on the target U-turn path to complete the U-turn. Based on the target parking entry point, an A-star algorithm is then used to determine a target entry path corresponding to the vehicle. Based on the target entry path, the vehicle is controlled to travel from the target parking entry point to the terminal parking space to complete parking. When the vehicle is parked in the terminal parking space, the parking process is divided into two parts: one part uses the geometric programming algorithm to achieve the U-turn, and the other part uses the A-star algorithm to park the vehicle in the terminal parking space after the U-turn is completed. This avoids the problem of long parking times caused by using only the A-star algorithm to park the vehicle in the terminal parking space, thereby improving the user's driving experience.

[0197] refer to Figure 6 As shown, Figure 6This is a schematic diagram of the structure of a vehicle provided in an embodiment of the present application. Vehicle 600 in this embodiment may include: at least one processor 601, vehicle memory 602, at least one network interface 604, and other user interfaces 603. The various components in vehicle 600 are coupled together via a bus system 605. It will be understood that bus system 605 is used to enable connectivity and communication between these components. In addition to a data bus, bus system 605 also includes a power bus, a control bus, and a status signal bus. However, for clarity, all of these buses will be labeled as bus system 605.

[0198] The user interface 603 may include a display, a keyboard, or a pointing device (eg, a mouse, a trackball), a touch pad, or a touch screen.

[0199] It is understood that the memory 602 in the embodiment of the present application can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link DRAM (SLDRAM), and direct RAM bus random access memory (DRRAM). The memory 602 described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0200] In some embodiments, the memory 602 stores the following elements, executable units, or data structures, or a subset thereof, or an extended set thereof: an operating system 6021 and application programs 6022 .

[0201] The operating system 6021 includes various system programs, such as a framework layer, a core library layer, and a driver layer, for implementing various basic services and processing hardware-based tasks. The application 6022 includes various application programs, such as a media player and a browser, for implementing various application services. The program implementing the method of the embodiment of the present application can be included in the application 6022.

[0202] In the embodiment of the present application, the processor 601 is used to execute the methods provided by each method embodiment by calling the program or instructions stored in the memory 602, specifically, the program or instructions stored in the application 6022.

[0203] The methods disclosed in the above embodiments of the present application can be applied to or implemented by processor 601. Processor 601 may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by hardware integrated logic circuits in processor 601 or by software instructions. The above processor 601 can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The methods, steps, and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of the present application can be directly implemented and executed by a hardware decoding processor, or by a combination of hardware and software units in the decoding processor. The software units can be located in a storage medium mature in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. The storage medium is located in the memory 602 , and the processor 601 reads the information in the memory 602 and implements the above method in combination with its hardware.

[0204] It is understood that the embodiments described herein may be implemented using hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, the processing unit may be implemented in one or at least one application-specific integrated circuit (ASIC), digital signal processor (DSP), digital signal processing device (DSPD), programmable logic device (PLD), field-programmable gate array (FPGA), general-purpose processor, controller, microcontroller, microprocessor, other electronic units for performing the functions described herein, or a combination thereof.

[0205] For software implementation, the technology described herein can be implemented by a unit that performs the functions described herein. The software code can be stored in a memory and executed by a processor. The memory can be implemented in the processor or outside the processor.

[0206] The present application also provides a storage medium (computer-readable storage medium). The storage medium stores one or at least one program. The storage medium may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as read-only memory, flash memory, hard disk, or solid-state drive; and the memory may also include a combination of the aforementioned types of memory.

[0207] When one or at least one program in a storage medium is executable by one or at least one processor, the storage medium, when used in a vehicle, can implement the aforementioned method executed in the vehicle. The processor is configured to execute the vehicle program stored in the memory to implement the aforementioned method executed in the vehicle.

[0208] Professionals should also be further aware that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the components and steps of each example according to their functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0209] It should be noted that references in this specification to "one embodiment," "an embodiment," "an exemplary embodiment," "some embodiments," and the like indicate that the described embodiments may include a particular feature, structure, or characteristic, but not necessarily every embodiment includes that particular feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Furthermore, when a particular feature, structure, or characteristic is described in conjunction with an embodiment, it is within the knowledge of those skilled in the art to implement such feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not.

[0210] It should be noted that, in this article, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method or article that includes a series of elements may include not only those elements, but also other elements that are not explicitly listed, or may also include elements that are inherent to such process, method, article or vehicle. In the absence of more limitations, an element defined by the sentence "comprises a..." does not exclude the presence of other identical elements in the process, method, article or vehicle that includes the element.

[0211] The above embodiments are only preferred embodiments for fully illustrating the present application, and the protection scope of the present application is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art based on the present application are within the protection scope of the present application.

Claims

1. A parking control method, characterized in that: include: When a vehicle needs to park in an end parking space and the vehicle drives to a stop point of the end parking space, determining a target area corresponding to the vehicle, the target area being used to enable the vehicle to turn around outside the end parking space; Determining a U-turn path set corresponding to the vehicle using a geometric programming algorithm based on the stop point and the target area, wherein all U-turn paths in the U-turn path set are located within the target area; Determining a target U-turn path corresponding to the vehicle from the U-turn path set; According to the target U-turn path, controlling the vehicle to travel from the stop point to a target parking point to complete the U-turn of the vehicle, wherein the target parking point is an end point of the target U-turn path; Based on the target parking point, determine the target parking path corresponding to the vehicle using the A-star algorithm; According to the target parking path, the vehicle is controlled to travel from the target parking point to the end parking space to complete the parking of the vehicle.

2. The parking control method according to claim 1, characterized in that: Each of the U-turn paths in the U-turn path set includes a plurality of U-turn sections; The determining a target U-turn path corresponding to the vehicle from the U-turn path set includes: For each of the U-turn paths in the U-turn path set, determining a U-turn time corresponding to each of the U-turn sections in the U-turn path; determining a target U-turn time corresponding to the U-turn path according to all the U-turn times corresponding to all the U-turn sections included in the U-turn path; Determining the U-turn path corresponding to the minimum target U-turn time from the U-turn path set; The U-turn path corresponding to the minimum target U-turn time is determined as the target U-turn path corresponding to the vehicle.

3. The parking control method according to claim 2, characterized in that: The determining of the U-turn time corresponding to each U-turn section in the U-turn path includes: For each U-turn section in the U-turn path, obtaining a target road type of the road on which the U-turn section is located, a target road slope of the road on which the U-turn section is located, a target road pothole degree of the road on which the U-turn section is located, and a target vehicle type corresponding to the vehicle; determining a target U-turn speed for the vehicle traveling in the U-turn section according to the target road type, the target road slope, the target road pothole degree, and the target vehicle type; determining a target U-turn distance corresponding to the U-turn section; The U-turn time corresponding to the U-turn section is determined according to the target U-turn distance corresponding to the U-turn section and the target U-turn speed corresponding to the U-turn section.

4. The parking control method according to claim 3, characterized in that: The determining, based on the target road type, the target road slope, the target road pothole degree, and the target vehicle type, a target U-turn speed for the vehicle traveling in the U-turn section includes: Obtaining a preset parameter relationship set, the preset parameter relationship set including a plurality of preset parameter relationships, the preset parameter relationships being used to characterize a correspondence between a preset road type, a preset road slope, a preset road pothole degree, a preset vehicle type, and a preset U-turn speed; Using the preset parameter relationship set, training a preset machine learning model to obtain a target speed model; inputting the target road type, the target road slope, the target road pothole degree, and the target vehicle type into the target speed model, so that the target speed model outputs the preset U-turn speed; determining the preset U-turn speed output by the target speed model as the target U-turn speed for the vehicle traveling in the U-turn section; or Obtaining a preset U-turn speed for the vehicle traveling in the U-turn section; determining a target correction value of the preset U-turn speed according to the target road type, the target road slope, the target road pothole degree, and the target vehicle type; The preset U-turn speed is corrected according to the target correction value to determine a target U-turn speed for the vehicle traveling in the U-turn section.

5. The parking control method according to claim 1, characterized in that: The target U-turn path includes a plurality of U-turn sections, and adjacent U-turn sections are connected by U-turn points; The controlling the vehicle to travel from the stop point to the target parking point according to the target U-turn path to complete the U-turn of the vehicle includes: Controlling the vehicle to start traveling from the stop point according to the target U-turn path; Whenever the vehicle reaches a U-turn point in the target U-turn path, determining whether the target parking path corresponding to the vehicle is determined within a preset number of iterations using the A-star algorithm based on the U-turn point; When the target parking path corresponding to the vehicle is not determined within the preset number of iterations, the vehicle is continuously controlled to travel according to the target U-turn path until the vehicle reaches the target parking point, thereby completing the U-turn of the vehicle.

6. The parking control method according to claim 1, characterized in that: The determining of a U-turn path set corresponding to the vehicle by using a geometric programming algorithm based on the stop point and the target area includes: Taking the stop point as the starting point for the vehicle to turn around, determining a preset U-turn trajectory corresponding to the vehicle within the target area, the preset U-turn trajectory further comprising a plurality of trajectory turning points and a preset parking point, the preset parking point being the end point of the preset U-turn trajectory; Determining a preset turning radius interval corresponding to the vehicle; determining, based on the stop point and the preset turning radius interval, a U-turn point set corresponding to each turning point of the preset U-turn trajectory and a parking point set corresponding to the preset parking point, wherein all the U-turn points in the U-turn point set and all the parking points in the parking point set are located within the target area; According to the preset U-turn trajectory, the stop point, all the U-turn points in the U-turn point set, and the parking points in the parking point set are connected to determine a U-turn path set corresponding to the vehicle.

7. The parking control method according to claim 1, characterized in that: Determining the target area corresponding to the vehicle includes: Acquire a target lane currently located by the vehicle, and determine an area where the target lane is located as a first area; acquiring a target image of an area adjacent to the first area; Determining a blank area from the target image, and determining the blank area as a second area, wherein the blank area does not include an area where the end parking space is located, and the blank area is adjacent to the first area; The first area and the second area are spliced ​​together to determine a target area corresponding to the vehicle.

8. A parking control device, characterized in that: include: An area determination module is used to determine a target area corresponding to the vehicle when the vehicle needs to park in a terminal parking space and the vehicle drives to a stop point of the terminal parking space, wherein the target area is used to enable the vehicle to turn around outside the terminal parking space; a path determination module, configured to determine, based on the stop point and the target area, a set of U-turn paths corresponding to the vehicle using a geometric programming algorithm, wherein all U-turn paths in the set of U-turn paths are located within the target area; The path determination module is configured to determine a target U-turn path corresponding to the vehicle from the U-turn path set; a control module, configured to control the vehicle to travel from the stop point to a target parking point according to the target U-turn path, so as to complete the U-turn of the vehicle, wherein the target parking point is an end point of the target U-turn path; The path determination module is used to determine the target parking path corresponding to the vehicle using the A-star algorithm based on the target parking point; The control module is further configured to control the vehicle to travel from the target parking point to the end parking space according to the target parking path, so as to complete parking of the vehicle.

9. A vehicle, characterized in that: include: A processor and a memory, wherein the processor is configured to execute a parking control program stored in the memory to implement the parking control method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the parking control method according to any one of claims 1 to 7.

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