Memory parking method, device and equipment

Abstract

The invention provides a memory parking method, device and equipment, and the method comprises the steps: controlling a vehicle to run according to a memory parking route in a cruise stage when a user starts a memory parking function. And when the original parking space information of the memory parking route is detected, a target parking space is determined. And determining a splicing route based on the terminal point of the memory parking route and the target parking space. And the splicing route and the memory parking route are spliced, and the spliced memory parking route is obtained. And when the vehicle runs to the end point of the spliced memory parking route, the vehicle is controlled to be switched to a parking stage. In the parking stage, a first parking stage route for reversing to the target parking space is determined; and controlling the vehicle to reverse to the target parking space according to the first parking stage route. By splicing a section of forward driving route in the cruising stage, when the vehicle is switched from the cruising stage to the parking stage, the vehicle can reverse to drive to the target parking space, so that the continuity of the switching stage in the memory parking process is improved, and the user experience is improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and specifically to a memory parking method, device, and equipment. Background Art

[0002] With the continuous development of autonomous driving technology, more and more functions are derived from it, such as the Home-zone Parking Assist (HPA) function. Before using the memory parking function, you need to learn the memory parking route in advance. When the vehicle enters the scene corresponding to the memory parking route again, the memory parking function can automatically park the vehicle in the corresponding parking space according to the learned memory parking route.

[0003] The implementation of the memory parking function is usually divided into the cruising stage and the parking stage. The cruising stage refers to the process of the vehicle driving along the memory parking route and searching for the target parking space, and the parking stage refers to the process of automatically parking the vehicle in the target parking space after finding the target parking space. In actual applications, when the vehicle cruises to the vicinity of the target parking space, it will slow down and stop. After switching the vehicle's driving state from the cruising stage to the parking stage, it will start again, move forward for a distance, and then reverse into the garage. The process of starting again after parking and then reversing causes the switching from the cruising stage to the parking stage to be inconsistent, affecting the user experience. Summary of the invention

[0004] In view of this, the present application is dedicated to providing a memory parking method, device, and equipment to improve the continuity of the switching phase during the memory parking process and enhance the user experience.

[0005] In a first aspect, the present application provides a memory parking method, the method comprising:

[0006] In response to a user activating a memory parking function of the vehicle, controlling the vehicle to travel according to a memory parking route in a cruising phase;

[0007] When an original parking space in the memory parking route is detected during driving, determining a target parking space;

[0008] Determine a spliced ​​route based on the end point of the memorized parking route and the target parking space, wherein the spliced ​​route is a forward driving route;

[0009] splicing the spliced ​​route with the memory parking route to obtain a spliced ​​memory parking route;

[0010] When the vehicle reaches the end of the spliced ​​memory parking route, controlling the vehicle to switch to the parking stage;

[0011] Determining a first parking phase route for reverse driving to the target parking space during the parking phase;

[0012] The vehicle is controlled to reverse along the first parking stage route to the target parking space.

[0013] In a possible implementation, determining the splicing route based on the end point of the memorized parking route and the target parking space includes:

[0014] Determine the end point of the memory parking route as the initial splicing starting point;

[0015] Based on the initial splicing starting point and the target parking space, an initial route is planned, where the initial route is a forward driving route;

[0016] When the initial route is a feasible route, the initial route is determined to be the spliced ​​route; otherwise, the process of determining a new splicing starting point in the memory parking route and obtaining a new route based on the new splicing starting point and the target parking space is repeatedly performed until the new route is a feasible route, and the iteration is stopped, and the new route is determined to be the spliced ​​route, and the new route is a forward driving route.

[0017] In a possible implementation, determining a new splicing starting point in the memorized parking route includes:

[0018] In the memorized parking route, determining a position at a preset distance after the initial splicing starting point as the new splicing starting point;

[0019] The method further comprises:

[0020] When the new splicing starting point is located after the projection point of the vehicle in the memory parking route, determining that the splicing route cannot be obtained;

[0021] When the vehicle reaches the end of the memorized parking route, controlling the vehicle to switch to the parking phase;

[0022] Determining a second parking phase route for driving to the target parking space during the parking phase, wherein the second parking phase route includes a forward driving route;

[0023] The vehicle is controlled to travel to the target parking space according to the second parking stage route.

[0024] In a possible implementation, the planning of obtaining an initial route based on the initial splicing starting point and the target parking space includes:

[0025] Generate a route between the initial splicing starting point and the target parking space using a Reeds Shepp curve, wherein the first segment of the route is a route for the vehicle to travel forward;

[0026] The first segment of the route is determined as the initial route.

[0027] In a possible implementation, when the initial route is not a feasible route, determining a new splicing starting point in the memorized parking route includes:

[0028] Determining a local memory parking route currently generated by the vehicle based on the memory parking route, wherein a starting point of the local memory parking route is a current position of the vehicle;

[0029] Determining a new splicing starting point in the local memory parking route;

[0030] The step of splicing the spliced ​​route with the memory parking route to obtain a spliced ​​memory parking route includes:

[0031] The spliced ​​route is spliced ​​at the end point of the local memory parking route to obtain the spliced ​​memory parking route.

[0032] In a possible implementation, determining the splicing route based on the end point of the memorized parking route and the target parking space includes:

[0033] Determine the coordinates of the center point of the target parking space based on the coordinates of the four corner points of the target parking space;

[0034] The spliced ​​route is determined based on the end point of the memorized parking route and the center point coordinates.

[0035] In a possible implementation, when an original parking space in the memorized parking route is detected during driving, determining a target parking space includes:

[0036] When it is detected that the original parking space is available, determining the original parking space as the target parking space;

[0037] When it is detected that the original parking space is unavailable, an available parking space is detected near the original parking space to determine the target parking space.

[0038] In a possible implementation, before controlling the vehicle to travel according to the memorized parking route during the cruising phase, the method further includes:

[0039] Based on the position information of the vehicle, it is determined whether the vehicle has reached a preset range of the memory parking route.

[0040] In a second aspect, the present application provides a memory parking device, the device comprising:

[0041] a first control unit, configured to control the vehicle to travel according to a memory parking route in a cruising phase in response to a user activating a memory parking function of the vehicle;

[0042] A parking space detection unit, configured to determine a target parking space when an original parking space in the memorized parking route is detected during driving;

[0043] A route determination unit, configured to determine a spliced ​​route based on an end point of the memorized parking route and the target parking space, wherein the spliced ​​route is a forward driving route;

[0044] A route splicing unit, configured to splice the spliced ​​route with the memory parking route to obtain a spliced ​​memory parking route;

[0045] A switching control unit, used for controlling the vehicle to switch to a parking phase when the vehicle reaches an end point of the spliced ​​memory parking route;

[0046] A parking route planning unit, used to determine a first parking phase route for reversing to the target parking space during the parking phase;

[0047] The second control unit is used to control the vehicle to reverse and drive to the target parking space according to the first parking stage route.

[0048] In a third aspect, the present application provides an electronic device, the device comprising: a memory and a processor;

[0049] The memory is used to store relevant program codes;

[0050] The processor is used to call the program code to execute the memory parking method described in any one of the implementations of the first aspect above.

[0051] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium is used to store a computer program, and the computer program is used to execute the memory parking method described in any one of the implementations of the first aspect above.

[0052] In a fifth aspect, the present application provides a computer program product, which includes a computer program / instructions. When the computer program / instructions are executed by a processor, the memory parking method described in any one of the implementations of the first aspect is implemented.

[0053] In the above implementation of the present application, when the user activates the memory parking function of the vehicle, the vehicle will first be controlled to enter the cruising stage in the memory parking, and the vehicle will be controlled to travel according to the memory parking route in the cruising stage. When the vehicle is about to reach the end of the memory parking route during driving, the vehicle can detect the original parking space information in the memory parking route to determine the target parking space for parking. Then, based on the end point and the target parking space of the memory parking route, a spliced ​​route is determined. The spliced ​​route is spliced ​​with the original memory parking route to obtain a spliced ​​memory parking route, and the vehicle is controlled to travel according to the spliced ​​memory parking route. When the vehicle travels to the end point of the spliced ​​memory parking route, the vehicle is controlled to switch to the parking stage. Path planning is performed in the parking stage to determine the first parking stage route for reverse driving to the target parking space, that is, the route for the vehicle to drive backward to the target parking space. Then the vehicle is controlled to reverse driving to the target parking space according to the first parking stage route. Through the method of the embodiment of the present application, by splicing a forward driving route in the cruising phase, when the vehicle switches from the cruising phase to the parking phase, it can reverse to the target parking space, thereby improving the continuity of the switching phase during the memory parking process and enhancing the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. It is obvious that the drawings described below are only some embodiments provided in the present application, and a person skilled in the art can also obtain other drawings based on these drawings.

[0055] Figure 1 A schematic diagram of a memory parking route provided in an embodiment of the present application.

[0056] Figure 2 A flowchart of a memory parking method provided in an embodiment of the present application.

[0057] Figure 3 A schematic diagram of a target parking space provided in an embodiment of the present application.

[0058] Figure 4 A schematic diagram of determining a splicing starting point provided in an embodiment of the present application.

[0059] Figure 5 A flow chart for determining a splicing route is provided in an embodiment of the present application.

[0060] Figure 6 A flowchart of another memory parking method provided in an embodiment of the present application.

[0061] Figure 7 A schematic diagram of a memory parking device provided in an embodiment of the present application.

[0062] Figure 8 A schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0063] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. The described embodiments are only exemplary implementation methods of the present application, not all implementation methods. Those skilled in the art can combine the embodiments of the present application to obtain other embodiments without creative work, and these embodiments are also within the scope of protection of the present application.

[0064] With the continuous development of autonomous driving technology, more and more functions are derived from it, such as the memory parking function. Before using the memory parking function, you need to learn the memory parking route in advance. When the vehicle enters the scene corresponding to the memory parking route again, the vehicle can automatically park the vehicle in the corresponding parking space according to the learned memory parking route.

[0065] Among them, the memory parking route pre-learned by the vehicle can be a memory parking route shared by other users and downloaded from the server. It can also be a memory parking route formed by the user manually driving the vehicle along the desired route and parking in the parking space. While the user is driving the vehicle, the vehicle's radar, camera and other sensors will collect the environment around the vehicle in real time and transmit the data to the vehicle (or server). With the help of SLAM technology, the vehicle can be located in real time and a map can be generated as the basis for automatic parking. When the vehicle enters the scene corresponding to the memory parking route again, after the user activates the memory parking function, the vehicle can be controlled to drive along the pre-learned memory parking route and automatically park in the corresponding parking space.

[0066] The implementation of the memory parking function is usually divided into the cruising stage and the parking stage. The cruising stage refers to the process of the vehicle driving in the memory parking route and searching for the target parking space, and the parking stage refers to the process of automatically parking the vehicle in the target parking space after finding the target parking space. Figure 1 Shown is a schematic diagram of a memory parking route provided. Figure 1 The arrow indicates the forward direction, and the AB segment indicates the route of the cruising phase. In actual applications, when the vehicle is in the cruising phase and approaches the target parking space, it will slow down and stop, that is, slow down and stop at point B. After the vehicle's driving state is switched from the cruising phase to the parking phase, it starts again from point B and moves forward a distance to point C, and then reverses from point C to the target parking space. The process of starting the vehicle again after parking and then reversing causes the switching from the cruising phase to the parking phase to be inconsistent, affecting the user experience.

[0067] Based on this, the embodiment of the present application provides a memory parking method to improve the continuity of the switching phase during the memory parking process and enhance the user experience. In specific implementation, when the user starts the memory parking function of the vehicle, the vehicle will first be controlled to enter the cruising phase in the memory parking, and the vehicle will be controlled to drive according to the memory parking route in the cruising phase. When the end of the memory parking route is about to be reached during driving, the vehicle can detect the original parking space information in the memory parking route to determine the target parking space for parking. Then, based on the end point of the memory parking route and the target parking space, a spliced ​​route is determined (the spliced ​​route is a section of the route for the vehicle to drive forward). The spliced ​​route is spliced ​​with the original memory parking route to obtain a spliced ​​memory parking route, and the vehicle is controlled to drive according to the spliced ​​memory parking route. When the vehicle drives to the end point of the spliced ​​memory parking route, the vehicle is controlled to switch to the parking phase. Path planning is performed in the parking phase to determine the first parking phase route for reversing to the target parking space, that is, the route for the vehicle to drive backward to the target parking space (that is, the first parking phase route only includes a section of the route for the vehicle to drive backward to the parking space). Then the vehicle is controlled to reverse to the target parking space according to the route of the first parking stage. According to the method of the embodiment of the present application, by splicing a forward driving route (i.e., splicing route) in the cruising stage, when the vehicle switches from the cruising stage to the parking stage, it can reverse to the target parking space, thereby improving the continuity of the switching stages during the memory parking process and enhancing the user experience.

[0068] In order to facilitate understanding of the technical solution provided by the embodiments of the present application, a detailed introduction will be given below in conjunction with the drawings in the embodiments.

[0069] See also Figure 2 As shown, Figure 2 A flowchart of a memory parking method provided in an embodiment of the present application.

[0070] Optionally, the method may be performed by a memory parking system of the vehicle. The memory parking system has a memory parking function, which controls the vehicle to drive according to a pre-learned memory parking route and park at a target parking space. The memory parking system may use sensors to monitor environmental information around the vehicle and make fine adjustments to the memory parking route when necessary, for example, temporarily detouring to avoid obstacles and then returning to the memory parking route.

[0071] The method mainly includes the following steps:

[0072] S201: In response to a user activating a memory parking function of the vehicle, controlling the vehicle to travel according to a memory parking route in a cruising phase.

[0073] When the user activates the memory parking function of the vehicle, the memory parking system on the vehicle can control the vehicle to complete the memory parking function. In some application scenarios, a button for activating the memory parking function can be set on the vehicle, and the user can activate the memory parking function by clicking the button. In other application scenarios, the user can also activate the memory parking function of the vehicle by voice input control instructions. That is, the memory parking system of the vehicle has a voice recognition function, and activates the memory parking function by recognizing the control instructions input by the user's voice.

[0074] It should be noted that the embodiment of the present application does not specifically limit the method of activating the memory parking function, and the above embodiment is only an exemplary description.

[0075] When the user activates the vehicle's memory parking function, the memory parking system will control the vehicle to enter the memory parking process only when the vehicle drives to the environment corresponding to the memory parking route again. In specific implementation, during the vehicle's driving process, the memory parking system can obtain the vehicle's location information in real time, and needs to determine whether the vehicle has reached the preset range of the memory parking route based on the vehicle's location information. When it is determined that the vehicle has reached the preset range of the memory parking route, the vehicle can be controlled to enter the memory parking stage. Optionally, the preset range of the memory parking route can be a range determined by expanding the preset distance around the location area corresponding to the memory parking route as a reference, and the preset range can be set in combination with actual needs. The vehicle can start from any position in the memory parking route. When the memory parking function is activated, the memory parking system controls the vehicle to perform memory parking.

[0076] In a possible implementation, the memory parking route can be a memory parking route shared by other users and downloaded from a server, or a memory parking route formed by the user manually driving the vehicle along the desired route in advance and then parking in the parking space. While the user is driving the vehicle, the vehicle's radar, camera and other sensors will collect the environment around the vehicle in real time, and transmit the sensor data to the vehicle side (or server). With the help of SLAM technology, the vehicle can be located in real time and a map can be generated. After parking in the parking space, the memory parking route is obtained.

[0077] When the vehicle drives into the preset range of the memory parking route again, the surrounding environment of the vehicle at this time may be different from the surrounding environment corresponding to the memory parking route. For example, there are new obstacles in the surrounding environment at this time. In a possible implementation, after calling the memory parking route, the memory parking system can fine-tune the memory parking route in combination with the current vehicle's surrounding environment in order to control the vehicle to park safely, for example, avoiding obstacles, etc., so as to optimize the memory parking route and improve the safety and accuracy of memory parking.

[0078] According to the above embodiments, the implementation process of memory parking is mainly divided into two stages, namely the cruising stage and the parking stage. Therefore, after the memory parking function is activated, the memory parking system first controls the vehicle to enter the cruising stage, and controls the vehicle to drive according to the memory parking route of the cruising stage. In the embodiment of the present application, the memory parking route is only used to represent the memory parking route corresponding to the cruising stage.

[0079] S202: When an original parking space in the memorized parking route is detected during driving, a target parking space is determined.

[0080] When the vehicle is traveling along the memory parking route and approaches the end of the memory parking route, the original parking space in the memory parking route can be detected, and the memory parking system needs to determine the target parking space where the vehicle will eventually park. The original parking space can be understood as the parking space where the vehicle is parked when the memory parking route is pre-generated.

[0081] In a possible implementation, when the memory parking system detects that the original parking space is available, the original parking space is determined to be the target parking space where the vehicle is finally parked. When it is detected that the original parking space is not available, an available parking space is detected near the original parking space, and the available parking space is determined to be the target parking space. For example, when the original parking space has been occupied by other vehicles, or the original parking space has a no-parking sign due to safety failures and other issues, it indicates that the original parking space is unavailable. At this time, the memory parking system can detect available parking spaces near the original parking space. For example, it can first detect whether the parking space closest to the original parking space is available. When the parking space closest to the original parking space is still unavailable, other available parking spaces are detected in order from near to far. When other available parking spaces are detected, the available parking space is determined to be the target parking space. Optionally, if no available parking space is detected, the memory parking system controls the vehicle to exit the cruising stage, and the user can take over the control of the vehicle.

[0082] S203: Determine a splicing route based on the end point and the target parking space of the memorized parking route.

[0083] After determining the target parking space that the vehicle can park in during the cruising phase, a splicing route for splicing onto the memory parking route can be determined based on the end point of the memory parking route during the cruising phase and the target parking space. Figure 1Taking the scenario shown as an example, the end point B of the memorized parking route in the cruising phase usually does not exceed the side line of P2P3 in the target parking space. After the vehicle parks at the end point of the memorized parking route, it switches from the cruising phase to the parking phase. The route planned in the parking phase needs to first drive forward for a distance and then reverse to the target parking space, resulting in poor continuity from the cruising phase to the parking phase. Therefore, the embodiment of the present application can add a spliced ​​route to the memorized parking route in the cruising phase, so that after the vehicle drives to the end point of the spliced ​​memorized parking route, it switches to the parking phase, and a parking route can be planned that directly reverses to the target parking space, thereby improving the continuity from the cruising phase to the parking phase.

[0084] In a possible implementation, after determining the target parking space, the target point of the vehicle traveling to the target parking space can be determined, thereby determining the splicing route based on the end point and the target point of the memorized parking route. The positioning point of the vehicle during driving can be determined based on the coordinates of the center of the rear axle of the vehicle.

[0085] Optionally, the target parking space can be regarded as a rectangular area, and the center point of the rectangular area is determined as the target point for parking the vehicle. Then, based on the coordinates of the end point of the memorized parking route and the center point of the target parking space, the spliced ​​route is planned. When planning the spliced ​​route, in addition to obtaining the coordinates of the end point of the memorized parking route and the center point of the target parking space, the heading angle corresponding to the end point of the memorized parking route and the heading angle corresponding to the center point of the target parking space can also be obtained, that is, the angle between the vehicle's center of mass speed and the horizontal axis direction is determined, so as to plan the direction of the spliced ​​route.

[0086] Based on this, the coordinates of the center point of the target parking space can be determined based on the coordinates of the four corner points of the target parking space. Figure 3 As shown, it is a schematic diagram of a target parking space provided by an embodiment of the present application. Among them, P1, P2, P3, and P4 represent the four corner points of the target parking space, and D represents the center point of the target parking space. After obtaining the coordinates of the four corner points, the memory parking system can determine a straight line equation based on the coordinates of P1 and P3, and determine another straight line equation based on the coordinates of P2 and P4. By combining the two straight line equations, the coordinates of the intersection point D of the two straight lines can be obtained.

[0087] In a possible implementation, the process of determining the spliced ​​route based on the end point and the target parking space of the memorized parking route may include the following steps A1-A4:

[0088] A1: Determine the end point of the memory parking route as the initial splicing starting point.

[0089] When determining the splicing route, it is necessary to determine the starting point of the splicing route. In the embodiment of the present application, the end point of the memorized parking route can be first determined as the initial splicing starting point.

[0090] A2: Based on the initial splicing starting point and the target parking space, the initial route is planned.

[0091] When determining the initial route, since the target parking space is a fixed position, the target parking space is usually used as the planning end point. Therefore, the route obtained based on the initial splicing starting point and the target parking space planning includes a forward driving route and a reverse driving route to the target parking space. After the vehicle drives to the end point of the memory parking route along the forward driving route during the cruising stage, the road conditions between the end point and the target parking space may change, that is, the originally determined route for reverse driving to the target parking space is not accurate. Therefore, the embodiment of the present application can only use the forward driving route as the splicing route, splice it into the memory parking route, and delete the route for reverse driving to the target parking space. Later, when the vehicle drives to the end point of the spliced ​​memory parking route, the route of the parking stage is replanned to improve the accuracy and safety of memory parking.

[0092] In specific implementation, the Reeds Shepp curve can be used to generate a route between the initial splicing starting point and the target parking space. Among them, the route is composed of at least two sections, and the first section of the route is a forward route. The first section of the route can be understood as a route with the initial splicing starting point as the starting point. When the route is composed of two sections, the first section of the route is a route that takes the initial splicing starting point as the starting point and moves forward, and the second section of the route is a route that takes the end point of the first section of the route as the starting point and reverses to the target parking space. It should be noted that when using the Reeds Shepp curve to plan a route, multiple routes may be obtained. You can select a route that meets the requirements from multiple routes, that is, the first section of the route is a forward route. Then determine that the first section of the route is the initial route, and delete the other sections of the route.

[0093] A3: When the initial route is a feasible route, the initial route is determined to be a spliced ​​route.

[0094] After the initial route is planned, it is necessary to determine whether the initial route is a feasible route. For example, the initial route may be subjected to collision detection, or it may be detected whether there is a no-entry sign in the initial route. When it is detected that there is no collision in the initial route and there is no no-entry sign, the initial route is determined to be a feasible route. When the initial route is a feasible route, it can be determined that the initial route is a spliced ​​route.

[0095] The method of detecting whether the initial route is a feasible route provided in the above embodiment is only an exemplary description and is not limited to the above implementation method.

[0096] A4: When the initial route is an infeasible route, the process of determining a new splicing starting point in the memory parking route and obtaining a new route based on the new splicing starting point and the target parking space is repeated until the new route is a feasible route and the iteration is stopped, and the new route is determined to be a splicing route.

[0097] When the initial route planned based on the initial splicing starting point and the target parking space is an infeasible route, for example, the initial route does not meet the collision detection, or there is a no-entry sign in the initial route, it is necessary to determine a new splicing starting point in the memory parking route, plan a new route based on the new splicing starting point and the target parking space, and determine whether the new route is a feasible route, and repeat the above steps until the planned new route is a feasible route, then stop the iteration, and determine the new route as a splicing route. That is, if the new route is still an infeasible route, continue to re-determine a new splicing starting point in the memory parking route, and re-plan a new route based on the re-determined new splicing starting point and the target parking space, and iterate the above process until the new route is a feasible route, then stop the iteration, and determine the new route as a splicing route. That is, if the new route is still an infeasible route, continue to re-determine a new splicing starting point in the memory parking route, and re-plan a new route based on the re-determined new splicing starting point and the target parking space, and iterate the above process until the new route is a feasible route, then stop the iteration, and determine the new route as a splicing route.

[0098] In one possible implementation, Figure 1 and Figure 4 As shown, the new splicing starting point can be determined in the following manner: the direction in which the vehicle travels along the memory parking route is the forward direction, and in the memory parking route, the position at a preset distance after the initial splicing starting point is determined as the new splicing starting point. That is, at the end of the memory parking route, move backward along the opposite direction of the memory parking route by a preset distance to obtain a new splicing starting point. Similarly, when the new route obtained based on the new splicing starting point is an infeasible route, the new splicing starting point can be determined again by continuing to move backward along the memory parking route by a preset distance at the new splicing starting point.

[0099] Optionally, in the process of traversing the memory parking route backward to determine a new splicing starting point, when the traversed new splicing starting point is already behind the projection point of the vehicle in the memory parking route, that is, the new splicing starting point is located behind the projection point of the vehicle in the memory parking route, the process of determining the new splicing starting point is stopped at this time, and it is determined that the splicing route cannot be obtained.

[0100] For details, please refer to Figure 4 As shown, Figure 4 A schematic diagram of determining a splicing starting point provided in an embodiment of the present application.

[0101] according to Figure 4 It can be seen that the end point of the memory parking route is the initial splicing starting point. The preset distance after the initial splicing starting point is the new splicing starting point. Among them, the projection point of the vehicle in the memory parking route can be represented as the position of the vehicle's positioning point projected onto the memory parking route. For example, the vehicle's positioning point can be the center of the vehicle's rear axle. In addition, the embodiment of the present application does not limit the specific value of the preset distance, and it can be set in combination with actual demand scenarios.

[0102] For ease of understanding, the process of determining the splicing route is described below in conjunction with a specific embodiment. Figure 5 As shown, Figure 5 A flow chart for determining a splicing route is provided in an embodiment of the present application.

[0103] In specific implementation, the method may include the following steps:

[0104] S501: Determine the end point of the memorized parking route as the splicing starting point;

[0105] S502: planning an initial route based on the splicing starting point and the target parking space;

[0106] S503: Determine whether the initial route is a feasible route; if not, execute step S504, and then jump to execute step S502; if yes, execute step S505;

[0107] S504: determining a new splicing starting point based on the memorized parking route, and replacing the splicing starting point with the new splicing starting point;

[0108] S505: Determine that the initial route is a splicing route.

[0109] That is, when the initial route is a feasible route, it can be determined that the initial route is a spliced ​​route.

[0110] S204: Splicing the spliced ​​route with the memory parking route to obtain a spliced ​​memory parking route.

[0111] After the splicing route is determined, the splicing route can be spliced ​​with the memory parking route to obtain a spliced ​​memory parking route, and then the vehicle is controlled to travel according to the spliced ​​memory parking route. For example, the splicing route can be spliced ​​at the end point of the memory parking route to obtain a spliced ​​memory parking route.

[0112] In a possible implementation, when the spliced ​​route is planned with the end point of the memory parking route as the splicing starting point and the target parking space as the end point, the spliced ​​route can be spliced ​​at the end point of the memory parking route to obtain the spliced ​​memory parking route.

[0113] In a possible implementation, when the initial route obtained based on the end point and target parking space planning of the memory parking route is an infeasible route, it indicates that the route planning (initial route) based on the memory parking route is not accurate enough. At this time, the spliced ​​memory parking route can also be determined based on the partial memory parking route.

[0114] Specifically, when the vehicle is traveling according to the memory parking route, the current position of the vehicle can be used as the starting point to determine a partial memory parking route based on the memory parking route, wherein the partial memory parking route can be understood as a route after optimizing the memory parking route in combination with real-time road conditions. The starting point of the partial memory parking route is the current position of the vehicle, the end point of the partial memory parking route is close to the end point of the memory parking route, and the partial memory parking route is close to the memory parking route. When the initial route obtained based on the end point of the memory parking route and the target parking space planning is an infeasible route, a new splicing starting point can be determined in the partial memory parking route, so as to obtain a new route based on the new splicing starting point and the target parking space planning. It is judged whether the new route is a feasible route. If so, the new route is determined to be a spliced ​​route, and the spliced ​​route is spliced ​​at the end point of the partial memory parking route to obtain a spliced ​​memory parking route. If the new route is not a feasible route, the process of determining a new splicing starting point in the local memory parking route and the subsequent process are repeated until the planned new route is a feasible route and the iteration is stopped, and the new route is determined to be a splicing route.

[0115] Among them, when determining a new splicing starting point in the local memory parking route, the end point of the local memory parking route can be used as the new splicing starting point. When the new route obtained based on the end point of the local memory parking route and the target parking space planning is an infeasible route, the position of the preset distance after the end point of the local memory parking route can be determined as the re-determined new splicing starting point. That is, when the current new splicing starting point is not satisfied, the current new splicing starting point can be used as the starting point, and the preset distance can be moved backward along the local memory parking route to determine the next new splicing starting point. In the process of traversing the local memory parking route backward to determine the new splicing starting point, when the traversed new splicing starting point has exceeded the projection point of the vehicle in the local memory parking route, that is, the new splicing starting point is located after the projection point of the vehicle in the local memory parking route, the process of determining the new splicing starting point is stopped at this time, and it is determined that the splicing route cannot be obtained.

[0116] After the splicing route is determined, the splicing route can be spliced ​​at the end point of the local memory parking route to obtain a spliced ​​memory parking route.

[0117] Optionally, after obtaining a spliced ​​memory parking route based on the partial memory parking route and the spliced ​​route, the vehicle is controlled to travel according to the spliced ​​memory parking route. At this time, the vehicle can stop generating the partial memory parking route and travel according to the spliced ​​memory parking route.

[0118] S205: When the vehicle reaches the end point of the spliced ​​memory parking route, the vehicle is controlled to switch to the parking phase.

[0119] After the memory parking system obtains the spliced ​​memory parking route, it controls the vehicle to continue to drive according to the spliced ​​memory parking route. When the vehicle drives to the end of the spliced ​​memory parking route, the cruising stage is completed, and the vehicle can be controlled to switch from the cruising stage to the parking stage.

[0120] S206: Determine a first parking phase route for reverse driving to a target parking space during the parking phase.

[0121] In the present application, since the splicing route has been determined and the determined splicing route is spliced ​​with the memorized parking route, the parking stage only includes the route for reverse driving (the first parking stage route).

[0122] When the vehicle switches to the parking stage, the memory parking system can plan a first parking stage route from the current position of the vehicle, that is, the end point of the spliced ​​memory parking route, to the target parking space in reverse. That is, the first parking stage route is a route for driving backward. Optionally, the Reeds Shepp curve can be used to generate the first parking stage route for driving backward from the end point of the spliced ​​memory parking route to the target parking space.

[0123] S207: Control the vehicle to reverse along the first parking stage route to the target parking space.

[0124] After determining the first parking stage route of the parking stage, the memory parking system controls the vehicle to reverse along the first parking stage route to the target parking space.

[0125] According to the above embodiments, when determining the splicing in the cruising stage, the splicing route may not be obtained. In a possible implementation, when the splicing route cannot be obtained, the vehicle can still be controlled to complete the memory parking. In the process of controlling the vehicle to drive in the cruising stage, when the vehicle drives to the end of the memory parking route, the vehicle is controlled to switch to the parking stage. Then, the second parking stage route to the target parking space is determined in the parking stage. That is, in the parking stage, the driving route from the end of the memory parking route to the target parking space is planned. At this time, the second parking stage route includes a section of the route for driving forward. Then the vehicle is controlled to drive to the target parking space according to the second parking stage route.

[0126] Based on the method provided in the above embodiment, by splicing a forward driving route in the cruising stage, when the vehicle reaches the end of the cruising stage, after switching from the cruising stage to the parking stage, the vehicle can directly reverse to the target parking space, thereby improving the continuity of the switching stages during the memory parking process and enhancing the user experience.

[0127] Based on this, the present application embodiment also provides a memory parking method. Figure 6 As shown, Figure 6 A flowchart of another memory parking method provided in an embodiment of the present application.

[0128] The method mainly includes the following steps:

[0129] S601: Control the vehicle to drive according to the memorized parking route in the cruising phase;

[0130] S602: Determine whether the original parking space in the memorized parking route is available; if yes, jump to step S606; otherwise, execute step S603;

[0131] S603: Check whether there are other available parking spaces; if so, execute step S604; if not, jump to execute step S605;

[0132] S604: Determine that the available parking space is the target parking space, and jump to step S607;

[0133] S605: It is determined that the parking phase cannot be switched, and when the vehicle reaches the end of the memory parking route, the memory parking function is turned off;

[0134] S606: Determine the original parking space as the target parking space;

[0135] S607: Based on the end point and target parking space of the memorized parking route, an initial route is planned;

[0136] S608: Determine whether the initial route is feasible; if so, execute step S609; otherwise, jump to step S610;

[0137] S609: splicing the initial route at the end point of the memory parking route to obtain a spliced ​​memory parking route, and jumping to step S613;

[0138] S610: determining a new splicing starting point in the local memory parking route, and planning a new route based on the new splicing starting point and the target parking space;

[0139] S611: Determine whether the new route is successfully connected to the local memory parking route; if so, execute step S612; otherwise, jump to step S614;

[0140] Among them, judging whether the new route is successfully spliced ​​with the local memory parking route includes judging whether the new route is feasible, and re-determining the iterative process of the new splicing starting point and the new route when the new route is not feasible, until the new splicing starting point is located after the projection point of the vehicle in the local memory parking route, and it is determined that the new route is not successfully spliced ​​with the local memory parking route. The implementation principle of this process can be referred to the iterative process of repeatedly determining the new splicing point and the new route, and the process of determining the local memory parking route provided in the above embodiment, which will not be described in detail here.

[0141] S612: Control the vehicle to travel according to the memory parking route obtained by combining the new route and the local memory parking route;

[0142] S613: When the vehicle reaches the end of the spliced ​​memory parking route, the vehicle is controlled to switch to the parking stage, and the vehicle is controlled to reverse to the target parking space based on the first parking stage route of the parking stage;

[0143] S614: When the vehicle reaches the end of the memorized parking route, the vehicle is controlled to switch to the parking stage, and the vehicle is controlled to drive to the target parking space based on the second parking stage route of the parking stage.

[0144] The second parking stage route includes a forward driving section and a backward driving section.

[0145] Based on the above method embodiment, the present application embodiment also provides a memory parking device. Figure 7 , Figure 7 A schematic diagram of a memory parking device provided in an embodiment of the present application.

[0146] The device 700 comprises:

[0147] The first control unit 701 is used for controlling the vehicle to travel according to the memory parking route in the cruising stage in response to the user starting the memory parking function of the vehicle;

[0148] A parking space detection unit 702, configured to determine a target parking space when an original parking space in the memorized parking route is detected during driving;

[0149] A route determination unit 703 is used to determine a spliced ​​route based on the end point of the memorized parking route and the target parking space, wherein the spliced ​​route is a forward driving route;

[0150] A route splicing unit 704, configured to splice the spliced ​​route with the memory parking route to obtain a spliced ​​memory parking route;

[0151] A switching control unit 705, configured to control the vehicle to switch to a parking phase when the vehicle reaches the end of the spliced ​​memory parking route;

[0152] A parking route planning unit 706, configured to determine a first parking phase route for reversing to the target parking space during the parking phase;

[0153] The second control unit 707 is used to control the vehicle to reverse and drive to the target parking space according to the first parking stage route.

[0154] In a possible implementation, the route determination unit 703 is specifically configured to determine the end point of the memorized parking route as an initial splicing starting point; based on the initial splicing starting point and the target parking space, plan an initial route, where the initial route is a forward route; when the initial route is a feasible route, determine the initial route to be the spliced ​​route; otherwise, repeatedly determine a new splicing starting point in the memorized parking route, and plan a new route based on the new splicing starting point and the target parking space, until the iteration is stopped when the new route is a feasible route, determine the new route to be the spliced ​​route, and determine the new route to be the forward route.

[0155] In a possible implementation, the route determination unit 703 is specifically configured to determine, in the memorized parking route, a position at a preset distance after the initial splicing starting point as the new splicing starting point;

[0156] The route determination unit 703 is further configured to determine that a splicing route cannot be obtained when a new splicing starting point is located after a projection point of the vehicle in the memorized parking route;

[0157] The switching control unit 705 is further configured to control the vehicle to switch to the parking phase when the vehicle reaches the end of the memorized parking route;

[0158] The parking route planning unit 706 is further configured to determine a second parking route for driving to the target parking space during the parking phase, wherein the second parking route includes a forward driving route;

[0159] The second control unit 707 is further configured to control the vehicle to travel to the target parking space according to the second parking phase route.

[0160] In a possible implementation, the route determination unit 703 is specifically configured to generate a route between the initial splicing starting point and the target parking space using a Reeds Shepp curve, wherein the first segment of the route is the route along which the vehicle travels forward; and determine the first segment of the route as the initial route.

[0161] In a possible implementation, when the initial route is not a feasible route, the route determining unit 703 is specifically configured to determine a local memory parking route currently generated by the vehicle based on the memory parking route, the starting point of the local memory parking route being the current position of the vehicle; and determine a new splicing starting point in the local memory parking route;

[0162] The route splicing unit 704 is specifically configured to splice the spliced ​​route at the end point of the local memory parking route to obtain the spliced ​​memory parking route.

[0163] In a possible implementation, the route determination unit 703 is specifically configured to determine the coordinates of the center point of the target parking space based on the coordinates of the four corner points of the target parking space; and determine the spliced ​​route based on the end point of the memorized parking route and the coordinates of the center point.

[0164] In a possible implementation, the parking space detection unit 702 is specifically configured to, when it is detected that the original parking space is available, determine the original parking space as the target parking space; when it is detected that the original parking space is unavailable, detect an available parking space near the original parking space to determine the target parking space.

[0165] In a possible implementation, the device further includes: a position detection unit; before controlling the vehicle to travel according to the memorized parking route during the cruising phase, the position detection unit is used to determine whether the vehicle has reached a preset range of the memorized parking route based on the position information of the vehicle.

[0166] Based on the above method embodiment and device embodiment, the present application embodiment further provides an electronic device, which will be described below in conjunction with the accompanying drawings.

[0167] See also Figure 8 , Figure 8 A schematic diagram of an electronic device provided in an embodiment of the present application.

[0168] The device 800 includes: a memory 801 and a processor 802;

[0169] The memory 801 is used to store relevant program codes;

[0170] The processor 802 is used to call the program code to execute the memory parking method described in the above method embodiment.

[0171] In addition, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium is used to store a computer program, and the computer program is used to execute the memory parking method described in the above method embodiment.

[0172] The embodiment of the present application further provides a computer program product, which includes a computer program / instruction. When the computer program / instruction is executed by a processor, the memory parking method described in the above method embodiment is implemented.

[0173] It should be noted that the computer-readable medium mentioned above in the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0174] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0175] It should be noted that the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can refer to each other. In particular, for the system or device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiment. The device embodiment described above is only exemplary, in which the units or modules described as separate components may or may not be physically separated, and the components displayed as units or modules may or may not be physical modules, that is, they may be located in one place, or they may be distributed on multiple network units, and some or all of the units or modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative work.

[0176] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the method, device and equipment etc. of various embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or the flowchart, and the combination of the boxes in the block diagram and / or the flowchart can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0177] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0178] It should also be noted that, in this application, relational terms such as first and second, etc. are only used 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, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0179] The steps of the method or algorithm described in conjunction with the embodiments disclosed in this application can be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module can be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0180] The above description of the disclosed embodiments enables professionals and technicians in the field to implement or use the present application. Various modifications to these embodiments will be apparent to professionals and technicians in the field, and the general principles defined in this application can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown in the present application, but will conform to the widest range consistent with the principles and novel features disclosed in the present application.

Claims

1. A memory parking method, characterized in that: The method comprises: In response to a user activating a memory parking function of the vehicle, controlling the vehicle to travel according to a memory parking route in a cruising phase; When an original parking space in the memory parking route is detected during driving, determining a target parking space; Determine a spliced ​​route based on the end point of the memorized parking route and the target parking space, wherein the spliced ​​route is a forward driving route; splicing the spliced ​​route with the memory parking route to obtain a spliced ​​memory parking route; When the vehicle reaches the end of the spliced ​​memory parking route, controlling the vehicle to switch to the parking stage; Determining a first parking phase route for reverse driving to the target parking space during the parking phase; The vehicle is controlled to reverse along the first parking stage route to the target parking space.

2. The method according to claim 1, characterized in that Determining a splicing route based on the end point of the memorized parking route and the target parking space includes: Determine the end point of the memory parking route as the initial splicing starting point; Based on the initial splicing starting point and the target parking space, an initial route is planned, where the initial route is a forward driving route; When the initial route is a feasible route, the initial route is determined to be the spliced ​​route; otherwise, the process of determining a new splicing starting point in the memory parking route and obtaining a new route based on the new splicing starting point and the target parking space is repeatedly performed until the new route is a feasible route, and the iteration is stopped, and the new route is determined to be the spliced ​​route, and the new route is a forward driving route.

3. The method according to claim 2, characterized in that Determining a new splicing starting point in the memory parking route includes: In the memorized parking route, determining a position at a preset distance after the initial splicing starting point as the new splicing starting point; The method further comprises: When the new splicing starting point is located after the projection point of the vehicle in the memory parking route, determining that the splicing route cannot be obtained; When the vehicle reaches the end of the memorized parking route, controlling the vehicle to switch to the parking phase; Determining a second parking phase route for driving to the target parking space during the parking phase, wherein the second parking phase route includes a forward driving route; The vehicle is controlled to travel to the target parking space according to the second parking stage route.

4. The method according to claim 2, characterized in that: Based on the initial splicing starting point and the target parking space, an initial route is planned, including: Generate a route between the initial splicing starting point and the target parking space using a Reeds Shepp curve, wherein the first segment of the route is a route for the vehicle to travel forward; The first segment of the route is determined as the initial route.

5. The method according to claim 2, characterized in that: When the initial route is not a feasible route, determining a new splicing starting point in the memory parking route includes: Determining a local memory parking route currently generated by the vehicle based on the memory parking route, wherein a starting point of the local memory parking route is a current position of the vehicle; Determining a new splicing starting point in the local memory parking route; The step of splicing the spliced ​​route with the memory parking route to obtain a spliced ​​memory parking route includes: The spliced ​​route is spliced ​​at the end point of the local memory parking route to obtain the spliced ​​memory parking route.

6. The method according to claim 1, characterized in that Determining a splicing route based on the end point of the memorized parking route and the target parking space includes: Determine the coordinates of the center point of the target parking space based on the coordinates of the four corner points of the target parking space; The spliced ​​route is determined based on the end point of the memorized parking route and the center point coordinates.

7. The method according to claim 1, characterized in that When an original parking space in the memorized parking route is detected during driving, determining a target parking space includes: When it is detected that the original parking space is available, determining the original parking space as the target parking space; When it is detected that the original parking space is unavailable, an available parking space is detected near the original parking space to determine the target parking space.

8. The method according to claim 1, characterized in that: Before controlling the vehicle to travel according to the memorized parking route during the cruising phase, the method further includes: Based on the position information of the vehicle, it is determined whether the vehicle has reached a preset range of the memory parking route.

9. A memory parking device, characterized in that: The device comprises: a first control unit, configured to control the vehicle to travel according to a memory parking route in a cruising phase in response to a user activating a memory parking function of the vehicle; A parking space detection unit, configured to determine a target parking space when an original parking space in the memorized parking route is detected during driving; a route determination unit, configured to determine a spliced ​​route based on an end point of the memorized parking route and the target parking space, wherein the spliced ​​route is a forward driving route; A route splicing unit, configured to splice the spliced ​​route with the memory parking route to obtain a spliced ​​memory parking route; A switching control unit, used for controlling the vehicle to switch to a parking phase when the vehicle reaches an end point of the spliced ​​memory parking route; A parking route planning unit, used to determine a first parking phase route for reversing to the target parking space during the parking phase; The second control unit is used to control the vehicle to reverse and drive to the target parking space according to the first parking stage route.

10. An electronic device, characterized in that: The device comprises: a memory and a processor; The memory is used to store relevant program codes; The processor is used to call the program code to execute the memory parking method described in any one of claims 1 to 8.

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