Automatic parking control method and apparatus, computing device, vehicle and storage medium

Abstract

An automatic parking control method and apparatus, a computing device, a vehicle and a storage medium. The method comprises: acquiring first position information of the position of a vehicle, a tilting angle of the vehicle, and second position information and direction information of a target empty parking space; on the basis of the tilting angle of the vehicle and the direction information of the target empty parking space, determining whether the vehicle is tilted relative to the target empty parking space; if the vehicle is not tilted relative to the target empty parking space, determining a transverse moving distance and a transverse moving direction of the vehicle on the basis of the first position information and the second position information; and on the basis of the transverse moving distance and the transverse moving direction, controlling the vehicle to transversely move into the target empty parking space.

Description

Automatic parking control method and device, computing device, vehicle, and storage medium

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on October 27, 2023, with application number 202311424863.7 and application name “A method, device and computing device for automatic parking control”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the technical field of automatic parking control, and in particular to an automatic parking control method and apparatus, a computing device, a vehicle, and a storage medium. Background Art

[0003] With the development of society and the advancement of modern technology, vehicles have become an essential means of transportation in people's lives, and intelligent parking assistance systems are becoming increasingly mature. However, currently, vehicles equipped with parking assistance systems on the market, due to the limitations of the vehicle's drive system, mostly use geometric methods for path planning. For example, the vehicle may move forward a long distance from an initial position, then move backward and apply a turn, and finally back into its final position. However, this parking method is time-consuming and results in a poor user experience. Therefore, it is crucial to better control automatic parking.

[0004] Summary of the Invention

[0005] Embodiments of the present application provide an automatic parking control method and apparatus, a computing device, a vehicle, and a storage medium, which can improve the efficiency of automatic parking.

[0006] In a first aspect, an embodiment of the present application provides an automatic parking control method, comprising:

[0007] Acquiring first position information of a vehicle and a tilt angle of the vehicle, as well as second position information and direction information of a target empty parking space;

[0008] determining whether the vehicle is tilted relative to the target empty parking space based on the tilt angle of the vehicle and the direction information of the target empty parking space;

[0009] If the vehicle is not tilted relative to the target empty parking space, determining the lateral movement distance and lateral movement direction of the vehicle based on the first position information and the second position information; and

[0010] Based on the lateral movement distance and the lateral movement direction, the vehicle is controlled to move laterally into the target empty parking space.

[0011] In some embodiments, if the vehicle is not tilted relative to the target empty parking space, the lateral movement distance and lateral movement direction of the vehicle are determined based on the first position information and the second position information, including: if the vehicle is not tilted relative to the target empty parking space, the front of the vehicle does not exceed the first parking space boundary line of the target empty parking space, and the rear of the vehicle does not exceed the second parking space boundary line of the target empty parking space, then the lateral movement distance and the lateral movement direction of the vehicle are determined based on the first position information and the second position information.

[0012] In some embodiments, if the vehicle is not tilted relative to the target empty parking space, the lateral movement distance and lateral movement direction of the vehicle are determined based on the first position information and the second position information, including: if the vehicle is not tilted relative to the target empty parking space, and any side of the vehicle exceeds the corresponding parking space boundary line of the target empty parking space, the lateral movement distance, the lateral movement direction, the longitudinal movement distance, and the longitudinal movement direction of the vehicle are determined based on the first position information and the second position information, wherein the any side refers to any side of the vehicle body, front, or rear; controlling the lateral movement of the vehicle into the target empty parking space based on the lateral movement distance and the lateral movement direction includes: controlling the lateral movement of the vehicle based on the lateral movement distance and the lateral movement direction, and controlling the longitudinal movement of the vehicle based on the longitudinal movement distance and the longitudinal movement direction, until the vehicle moves into the target empty parking space.

[0013] In some embodiments, the method further includes: if the vehicle is tilted relative to the target empty parking space and the distance between the center of mass of the vehicle and the center point of the target empty parking space is less than a preset distance threshold, then determining the rotation angle and rotation direction of the vehicle based on the tilt angle of the vehicle and the direction information of the target empty parking space; and based on the rotation angle and the rotation direction, controlling the vehicle to rotate into the target empty parking space.

[0014] In some embodiments, the method further includes: if the vehicle is tilted relative to the target empty parking space, and the distance between the center of mass of the vehicle and the center point of the target empty parking space is greater than or equal to a preset distance threshold, then determining the rotation angle and rotation direction of the vehicle according to the tilt angle of the vehicle and the direction information of the target empty parking space, and determining the lateral movement distance and the lateral movement direction of the vehicle according to the first position information and the second position information; and controlling the rotation of the vehicle based on the rotation angle and the rotation direction, and controlling the lateral movement of the vehicle based on the lateral movement distance and the lateral movement direction, until the vehicle moves into the target empty parking space.

[0015] In some embodiments, controlling the lateral movement of the vehicle includes: controlling the left front wheel and the right rear wheel of the vehicle to rotate forward, and controlling the left rear wheel and the right front wheel of the vehicle to rotate backward, so as to control the vehicle to move parallel to the left; or controlling the left front wheel and the right rear wheel of the vehicle to rotate backward, and controlling the left rear wheel and the right front wheel of the vehicle to rotate forward, so as to control the vehicle to move parallel to the right.

[0016] In some embodiments, controlling the rotation of the vehicle includes: taking the center of mass of the vehicle as the origin, controlling the rotation of the vehicle by controlling the left and right wheels of the vehicle to rotate in different directions.

[0017] In some embodiments, obtaining the tilt angle of the vehicle includes: determining the coordinates of the four corner points of the vehicle in a preset coordinate system, wherein the coordinate system is established with the transverse center line and longitudinal center line of the vehicle as coordinate axes; and calculating the tilt angle of the vehicle relative to the horizontal plane based on the coordinates of the four corner points of the vehicle in the preset coordinate system.

[0018] In some embodiments, obtaining the direction information of the target empty parking space includes: determining the coordinates of the four corner points of the target empty parking space in a preset coordinate system, wherein the coordinate system is established with the transverse centerline and longitudinal centerline of the vehicle as coordinate axes; calculating the length direction of the target empty parking space based on the coordinates of the four corner points of the target empty parking space in the preset coordinate system; and determining the length direction of the target empty parking space as the direction information of the target empty parking space.

[0019] In some embodiments, determining whether the vehicle is tilted relative to the target empty parking space based on the tilt angle of the vehicle and the direction information of the target empty parking space includes: determining the tilt angle of the vehicle relative to the target empty parking space according to the tilt angle of the vehicle and the direction information of the target empty parking space; if the tilt angle of the vehicle relative to the target empty parking space is not equal to 0, determining that the vehicle is tilted relative to the target empty parking space; or if the tilt angle of the vehicle relative to the target empty parking space is equal to 0, determining that the vehicle is not tilted relative to the target empty parking space.

[0020] In some embodiments, determining the tilt angle of the vehicle relative to the target empty parking space based on the tilt angle of the vehicle and the direction information of the target empty parking space includes: determining the tilt angle of the vehicle relative to the target empty parking space based on the tilt angle of the vehicle, the direction information of the target empty parking space, and an angle calculation formula.

[0021] In a second aspect, an embodiment of the present application provides an automatic parking control device, comprising:

[0022] an acquiring unit, configured to acquire first position information of a vehicle and an inclination angle of the vehicle, and second position information and direction information of a target empty parking space;

[0023] a determining unit, configured to determine whether the vehicle is tilted relative to the target empty parking space based on the tilt angle of the vehicle and the direction information of the target empty parking space;

[0024] a determining unit, configured to determine a lateral movement distance and a lateral movement direction of the vehicle based on the first position information and the second position information if the vehicle is not tilted relative to the target empty parking space; and

[0025] A control unit is configured to control the vehicle to move laterally into the target empty parking space based on the lateral movement distance and the lateral movement direction.

[0026] In a third aspect, an embodiment of the present application provides a computing device, comprising: a processor and a memory, wherein the processor is configured to execute the method described in the first aspect above.

[0027] In a fourth aspect, an embodiment of the present application provides a vehicle, comprising a vehicle body and an automatic parking control device, wherein the automatic parking control device is configured to execute the method described in the first aspect above to control the vehicle to automatically park.

[0028] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, in which program instructions are stored. When the program instructions are executed, the method described in the first aspect above is implemented.

[0029] The embodiment of the present application can obtain first position information of the vehicle and the vehicle's tilt angle, as well as second position information and direction information of the target empty parking space; based on the vehicle's tilt angle and the direction information of the target empty parking space, determine whether the vehicle is tilted relative to the target empty parking space; if the vehicle is not tilted relative to the target empty parking space, determine the vehicle's lateral movement distance and lateral movement direction based on the first position information and the second position information; based on the lateral movement distance and lateral movement direction, control the vehicle to move laterally into the target empty parking space, which helps to improve the efficiency of automatic parking. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0031] FIG1 is a schematic structural diagram of an automatic parking control system provided in an embodiment of the present application.

[0032] FIG2 is a flow chart of an automatic parking control method provided in an embodiment of the present application.

[0033] FIG3 is a schematic diagram of the positions of a vehicle and a target empty parking space provided in an embodiment of the present application.

[0034] FIG4 is a schematic diagram of the positions of a vehicle and a target empty parking space provided in another embodiment of the present application.

[0035] FIG5 is a schematic diagram of the positions of a vehicle and a target empty parking space provided in another embodiment of the present application.

[0036] FIG6 is a schematic diagram of an automatic parking method based on lateral movement provided in an embodiment of the present application.

[0037] FIG7 is a flow chart of an automatic parking control method provided in another embodiment of the present application.

[0038] FIG8 is a schematic diagram of the positions of a vehicle and a target empty parking space provided in another embodiment of the present application.

[0039] FIG9 is a schematic diagram of the positions of a vehicle and a target empty parking space provided in another embodiment of the present application.

[0040] FIG10 is a flow chart of an automatic parking control method provided in another embodiment of the present application.

[0041] FIG11 is a schematic diagram of the positions of a vehicle and a target empty parking space provided in another embodiment of the present application.

[0042] FIG12 is a flow chart of an automatic parking control method provided in another embodiment of the present application.

[0043] FIG13 is a schematic diagram of the positions of a vehicle and a target empty parking space provided in another embodiment of the present application.

[0044] FIG14 is a schematic structural diagram of an automatic parking control device provided in an embodiment of the present application.

[0045] FIG15 is a schematic diagram of the structure of a computing device provided in an embodiment of the present application.

[0046] FIG16 is a schematic structural diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0048] It will be understood that when used in this specification and the appended claims, the terms “comprises” and “comprising” indicate the presence of described features, integers, steps, operations, elements and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof.

[0049] It should also be understood that the terms used in this specification are for the purpose of describing specific embodiments only and are not intended to limit the present application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0050] It should be further understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0051] In specific implementations, the computing devices described in the embodiments of the present application include, but are not limited to, other portable devices such as mobile phones, laptop computers, or tablet computers with a touch surface (e.g., a touch screen display and / or a touch pad). It should also be understood that in some embodiments, the device is not a portable communication device, but a desktop computer with a touch surface (e.g., a touch screen display and / or a touch pad).

[0052] An embodiment of the present application provides an automatic parking control method, device, and computing device. The automatic parking control method can be applied to an automatic parking control device. The automatic parking control device can be set in a parking controller, and the parking controller can be set in a computing device. In some embodiments, the computing device may include but is not limited to a terminal device, a server, etc. that is communicatively connected to the vehicle. The computing device may also be a device set on the vehicle. The computing device may be independent of the vehicle or may be a component of the vehicle. In some embodiments, the vehicle is equipped with Mecanum wheels so that each wheel of the vehicle can rotate to achieve lateral movement and rotation of the vehicle. An automatic parking control method provided in an embodiment of the present application can be applied to the automatic parking scenario of a vehicle.

[0053] An automatic parking control method provided in an embodiment of the present application can obtain first position information of a vehicle and the vehicle's tilt angle, as well as second position information and direction information of a target empty parking space; based on the vehicle's tilt angle and the direction information of the target empty parking space, determine whether the vehicle is tilted relative to the target empty parking space; if the vehicle is not tilted relative to the target empty parking space, determine the vehicle's lateral movement distance and lateral movement direction based on the first position information and the second position information; and based on the lateral movement distance and lateral movement direction, control the vehicle to move laterally into the target empty parking space.

[0054] Please refer to Figure 1, which is a schematic diagram of the structure of an automatic parking control system provided in an embodiment of the present application. The automatic parking control system includes a computing device 101 and a vehicle 102. The computing device 101 and the vehicle 102 are in communication with each other. The vehicle 102 can obtain vehicle data such as the vehicle's first position information and the vehicle's tilt angle, and send the obtained vehicle data to the computing device 101. The computing device 101 can control the vehicle to automatically park based on the vehicle data. In some embodiments, the computing device 101 can be a server or a terminal device.

[0055] In some embodiments, the computing device 101 can obtain first position information of the vehicle and the vehicle's tilt angle, as well as second position information and direction information of the target empty parking space; based on the vehicle's tilt angle and the direction information of the target empty parking space, determine whether the vehicle is tilted relative to the target empty parking space; if the vehicle is not tilted relative to the target empty parking space, determine the vehicle's lateral movement distance and lateral movement direction based on the first position information and the second position information; based on the lateral movement distance and lateral movement direction, control the vehicle to move laterally into the target empty parking space.

[0056] Please refer to Figure 2, which is a flow chart of an automatic parking control method provided in an embodiment of the present application. As shown in Figure 2, the automatic parking control method in this embodiment can be applied to an automatic parking control device, which is provided in a computing device. The method may include the following operations.

[0057] S201: Acquire first position information of the vehicle and the vehicle's tilt angle, as well as second position information and direction information of a target empty parking space.

[0058] In an embodiment of the present application, a computing device may obtain first position information of the vehicle and a tilt angle of the vehicle, as well as second position information and direction information of a target empty parking space. In some embodiments, the first position information of the vehicle and the second position information of the target empty parking space may be obtained based on a vehicle positioning device such as a Global Positioning System (GPS).

[0059] The computing device may establish a coordinate system using the vehicle's transverse and longitudinal centerlines as coordinate axes, determine the coordinates of the vehicle's four corner points, and determine the vehicle's length and width based on the coordinates of the four corner points. In some embodiments, the computing device may calculate the vehicle's tilt angle based on the vehicle's four corner point coordinates, where the vehicle's tilt angle is the vehicle's tilt angle relative to a horizontal plane.

[0060] The computing device can obtain at least one available empty parking space detected by the vehicle using ultrasonic radar and visual sensors, select a target empty parking space from the at least one empty parking space, obtain the coordinates of the four corner points of the target empty parking space, and determine the length, width, and direction of the target empty parking space based on the coordinates of the four corner points. In some embodiments, the direction of the target empty parking space can be determined based on the direction of the length of the target empty parking space, such as determining the direction of the length of the target empty parking space as the direction of the target empty parking space. Determining the direction of the target empty parking space helps determine the parking direction of the vehicle.

[0061] Taking Figure 3 as an example, Figure 3 is a schematic diagram of the orientation of a vehicle and a target empty parking space provided in an embodiment of the present application. As shown in Figure 3, a coordinate system 32 is established with the horizontal and longitudinal center lines of the vehicle 31 as coordinate axes, and points A1 (X1, Y1), B1 (X1, Y1), C1 (X1, Y1), and D1 (X1, Y1) are determined based on the coordinate system 32, which are the coordinates of the four corner points of the vehicle 31, namely the left front, left rear, right front, and right rear. The computing device can calculate the tilt angle of the vehicle 31 as α based on the coordinates of the four corner points A1 (X1, Y1), B1 (X1, Y1), C1 (X1, Y1), and D1 (X1, Y1) of the vehicle 31. The computing device can use sensors to obtain the coordinates P(X,Y), Q(X,Y), M(X,Y), and N(X,Y) of the four corner points of the target empty parking space 33, and determine the direction PM of the length of the target empty parking space based on the coordinates P(X,Y), Q(X,Y), M(X,Y), and N(X,Y) of the four corner points of the target empty parking space 33 as the direction information of the target empty parking space.

[0062] S202: Based on the tilt angle of the vehicle and the direction information of the target empty parking space, determine whether the vehicle is tilted relative to the target empty parking space.

[0063] In the embodiment of the present application, the computing device may determine whether the vehicle is tilted relative to the target empty parking space based on the tilt angle of the vehicle and the direction information of the target empty parking space.

[0064] In some embodiments, when the computing device determines whether the vehicle is tilted relative to the target empty parking space based on the vehicle's tilt angle and the direction information of the target empty parking space, it can determine the tilt angle of the vehicle relative to the target empty parking space based on the four corner point coordinates of the vehicle and the four corner point coordinates of the target empty parking space. If the tilt angle of the vehicle relative to the target empty parking space is not equal to 0 (i.e., greater than or less than 0), it is determined that the vehicle is tilted relative to the target empty parking space. If the tilt angle of the vehicle relative to the target empty parking space is equal to 0, it is determined that the vehicle is not tilted relative to the target empty parking space.

[0065] Specifically, FIG4 is an example of an orientation diagram of a vehicle and a target empty parking space provided in another embodiment of the present application. As shown in FIG4 , the inclination angle of the vehicle 41 relative to the target empty parking space 42 is the angle between A1D1 and NQ.

[0066] In some embodiments, when the target empty parking space is parallel to the horizontal plane, the inclination angle of the vehicle relative to the target empty parking space is the same as the inclination angle of the vehicle. Taking Figure 3 as an example, the angle formed by line A1D1 and line QN is the inclination angle of the vehicle relative to the target empty parking space.

[0067] S203: If the vehicle is not tilted relative to the target empty parking space, determine the lateral movement distance and lateral movement direction of the vehicle based on the first position information and the second position information.

[0068] In an embodiment of the present application, if the vehicle is not tilted relative to the target empty parking space, the computing device may determine the lateral movement distance and lateral movement direction of the vehicle according to the first position information and the second position information.

[0069] In some embodiments, if the vehicle is not tilted relative to the target empty parking space, the orientations of the vehicle and the target empty parking space are parallel, the front of the vehicle does not extend beyond the first parking space boundary line of the target empty parking space, and the rear of the vehicle does not extend beyond the second parking space boundary line of the target empty parking space, then the lateral movement distance and lateral movement direction of the vehicle are determined according to the first position information and the second position information.

[0070] Specifically, FIG. 5 may be taken as an example for illustration. FIG. 5 is a schematic diagram of the orientations of a vehicle and a target empty parking space provided in other embodiments of the present application. As shown in FIG. 5, the vehicle 51 is not tilted relative to the target empty parking space 52, that is, the orientations of the vehicle 51 and the target empty parking space 52 are parallel, the front 511 of the vehicle does not extend beyond the first parking space boundary line 521 of the target empty parking space, and the rear 512 of the vehicle 51 does not extend beyond the second parking space boundary line 522 of the target empty parking space 52. The computing device may determine that the lateral movement distance of the vehicle is h1 and the lateral movement direction is to move to the left side of the vehicle 51 (i.e., in the direction of the target empty parking space) according to the first position information of the vehicle 51 and the second position information of the target empty parking space 52.

[0071] S204: Control the vehicle to move laterally into the target empty parking space based on the lateral movement distance and lateral movement direction.

[0072] In an embodiment of the present application, the computing device may control the vehicle to move laterally into the target empty parking space based on the lateral movement distance and lateral movement direction.

[0073] In some embodiments, the ways for the computing device to control the vehicle to move laterally include: controlling the left front wheel and the right rear wheel of the vehicle to rotate forward, and controlling the left rear wheel and the right front wheel of the vehicle to rotate backward to control the vehicle to move leftward in parallel; controlling the left front wheel and the right rear wheel of the vehicle to rotate backward, and controlling the left rear wheel and the right front wheel of the vehicle to rotate forward to control the vehicle to move rightward in parallel.

[0074] In some embodiments, after the vehicle moves into the target empty parking space, the distance d between the front line of the vehicle or the parking space line and the corresponding parking space boundary line of the target empty parking space is greater than 0 and less than the difference between the parking space length and the vehicle length, that is, 0 < d < parking space length − vehicle length. That is, after moving into the target empty parking space, the vehicle will not press the line (i.e., press the parking space boundary line of the target empty parking space).

[0075] Specifically, FIG5 can be used as an example to illustrate that the computing device can control the left front wheel and the right rear wheel of the vehicle 51 to rotate forward, and control the left rear wheel and the right front wheel of the vehicle 51 to rotate backward based on the determined lateral movement distance of the vehicle, so as to control the vehicle 51 to move parallel to the left into the target empty parking space 52. After the vehicle 51 moves parallel to the left to the target empty parking space 52, the distance between the vehicle front line A1B1 and the first parking space boundary line 521 of the target empty parking space 52 is greater than 0 and less than the difference between the parking space length and the vehicle length.

[0076] In some embodiments, the computing device can determine the distance and direction of lateral movement of each wheel of the vehicle based on the lateral movement distance of the vehicle, wherein the distance and direction of lateral movement of each wheel can be determined based on the coordinates of the four corner points of the vehicle. Taking Figure 6 as an example, Figure 6 is a schematic diagram of automatic parking based on lateral movement provided by an embodiment of the present application. As shown in Figure 6, assuming that the coordinates of the four corner points of the vehicle before lateral movement are A1(X1, Y1), B1(X1, Y1), C1(X1, Y1), and D1(X1, Y1), and the coordinates of the four corner points of the vehicle after lateral movement are A2(X2, Y2), B2(X2, Y2), C2(X2, Y2), and D2(X2, Y2), the computing device can determine the distance and direction of lateral movement of each wheel based on the lateral movement distance of the vehicle. The coordinates of the four corner points after movement are calculated as A1(X1,Y1)-A2(X2,Y2), B1(X1,Y1)-B2(X2,Y2), C1(X1,Y1)-C2(X2,Y2), and D1(X1,Y1)-D2(X2,Y2), respectively. The lateral movement distance of each wheel is determined according to the absolute value of each calculation result, and the lateral movement direction of each wheel is determined according to the positive and negative signs of each calculation result, where a positive sign indicates movement to the right and a negative sign indicates movement to the left.

[0077] The embodiment of the present application obtains first position information of the vehicle and the vehicle's tilt angle, as well as second position information and direction information of the target empty parking space; based on the vehicle's tilt angle and the direction information of the target empty parking space, determines whether the vehicle is tilted relative to the target empty parking space; if the vehicle is not tilted relative to the target empty parking space, that is, the orientations of the vehicle and the target empty parking space are parallel, the front of the vehicle does not exceed the first parking space boundary line of the target empty parking space, and the rear of the vehicle does not exceed the second parking space boundary line of the target empty parking space, then determines the lateral movement distance and lateral movement direction of the vehicle based on the first position information and the second position information; based on the lateral movement distance and the lateral movement direction, controls the vehicle to move laterally into the target empty parking space, which helps to improve the efficiency of automatic parking.

[0078] Please refer to Figure 7, which is a flow chart of an automatic parking control method provided in other embodiments of the present application. As shown in Figure 7, the automatic parking control method in this embodiment can be applied to an automatic parking control device, which is provided in a computing device. The method may include the following operations.

[0079] S701: Acquire first position information of the vehicle and the vehicle's tilt angle, as well as second position information and direction information of the target empty parking space.

[0080] S702: Based on the tilt angle of the vehicle and the direction information of the target empty parking space, determine whether the vehicle is tilted relative to the target empty parking space.

[0081] S703: If the vehicle is not tilted relative to the target empty parking space and any side of the vehicle exceeds the corresponding parking space boundary line of the target empty parking space, determine the vehicle's lateral movement distance, lateral movement direction, longitudinal movement distance, and longitudinal movement direction based on the first position information and the second position information.

[0082] In an embodiment of the present application, if the vehicle is not tilted relative to the target empty parking space, and any side of the vehicle exceeds the corresponding parking space boundary line of the target empty parking space, the computing device can determine the lateral movement distance, lateral movement direction, longitudinal movement distance and longitudinal movement direction of the vehicle based on the first position information and the second position information, where any side refers to any side of the vehicle body, front or rear.

[0083] In some embodiments, if the vehicle is not tilted relative to the target empty parking space, the orientations of the vehicle and the target empty parking space are parallel, and the front or rear of the vehicle exceeds the corresponding parking space boundary line of the target empty parking space, the lateral movement distance, lateral movement direction, longitudinal movement distance and longitudinal movement direction of the vehicle are determined based on the first position information and the second position information.

[0084] Specifically, Figure 8 can be used as an example for explanation. Figure 8 is a schematic diagram of the orientation of a vehicle and a target empty parking space provided in other embodiments of the present application. As shown in Figure 8, there is no tilt of vehicle 81 relative to the target empty parking space 82, that is, the orientations of vehicle 81 and the target empty parking space 82 are parallel, and the front end 811 of vehicle 81 exceeds the parking space boundary line 821 of the target empty parking space 82. The computing device can determine that the lateral movement distance of vehicle 81 is h2, the lateral movement direction is to the left side of the vehicle (that is, to the target empty parking space), the longitudinal movement distance is d1 (that is, the distance between the front end of the vehicle and the boundary line 821 of the target empty parking space), and the longitudinal movement direction is to the rear of the vehicle based on the first position information of vehicle 81 and the second position information of the target empty parking space 82.

[0085] In some embodiments, if the vehicle is not tilted relative to the target empty parking space, and the body, front and rear of the vehicle all exceed the corresponding parking space boundary lines of the target empty parking space, the lateral movement distance and longitudinal movement distance of the vehicle are determined based on the first position information and the second position information.

[0086] Specifically, Figure 9 can be used as an example for explanation. Figure 9 is a schematic diagram of the orientation of a vehicle and a target empty parking space provided in other embodiments of the present application. As shown in Figure 9, the vehicle 91 is not tilted relative to the target empty parking space 92, and the body, front and rear of the vehicle 91 all exceed the corresponding parking space boundary lines of the target empty parking space 92. The computing device can determine that the lateral movement distance of the vehicle 91 is h3, the lateral movement direction is moving to the left side of the vehicle, the longitudinal movement distance is d2, and the longitudinal movement direction is moving to the rear of the vehicle based on the first position information of the vehicle 91 and the second position information of the target empty parking space 92.

[0087] S704: Control the lateral movement of the vehicle based on the lateral movement distance and the lateral movement direction, and control the longitudinal movement of the vehicle based on the longitudinal movement distance and the longitudinal movement direction, until the vehicle moves into the target empty parking space.

[0088] In embodiments of the present application, the computing device may control the lateral movement of the vehicle based on the lateral movement distance and lateral movement direction, and control the longitudinal movement of the vehicle based on the longitudinal movement distance and longitudinal movement direction, until the vehicle moves into the target empty parking space. In some embodiments, the present application does not specifically limit the order in which the lateral movement and longitudinal movement of the vehicle are controlled.

[0089] In some embodiments, the computing device may determine the order in which to control the lateral and longitudinal movements of the vehicle based on the environmental information. In one example, if an obstacle is detected near a target empty parking space, the order in which to control the lateral and longitudinal movements of the vehicle may be determined based on the location of the obstacle.

[0090] Taking FIG8 as an example, the computing device may control the vehicle to move laterally to the left side of the vehicle based on the lateral movement distance h2, and control the vehicle to move longitudinally to the rear of the vehicle based on the longitudinal movement distance d1, until the vehicle 81 moves into the target empty parking space 82.

[0091] Taking Figure 9 as an example, the computing device can control the vehicle to move laterally to the left side of the vehicle based on the lateral movement distance h3, and control the vehicle to move longitudinally to the rear of the vehicle based on the longitudinal movement distance d2, until the vehicle 91 moves into the target empty parking space 92.

[0092] The embodiment of the present application determines the lateral movement distance, lateral movement direction, longitudinal movement distance and longitudinal movement direction of the vehicle based on the first position information and the second position information when it is determined that the vehicle is not tilted relative to the target empty parking space, the orientations of the vehicle and the target empty parking space are parallel, and the front or rear end of the vehicle exceeds the corresponding parking space boundary line of the target empty parking space, and controls the lateral movement of the vehicle based on the lateral movement distance and the lateral movement direction, and controls the longitudinal movement of the vehicle based on the longitudinal movement distance and the longitudinal movement direction until the vehicle moves into the target empty parking space. This achieves automatic parking of the vehicle into the target empty parking space based on lateral movement and longitudinal movement control, which helps to improve the efficiency of automatic parking.

[0093] Please refer to Figure 10, which is a flow chart of an automatic parking control method provided in other embodiments of the present application. As shown in Figure 10, the automatic parking control method in this embodiment can be applied to an automatic parking control device, which is provided in a computing device. The method may include at least the following operations.

[0094] S1001: Acquire first position information of the vehicle and the vehicle's tilt angle, as well as second position information and direction information of a target empty parking space.

[0095] S1002: Based on the tilt angle of the vehicle and the direction information of the target empty parking space, determine whether the vehicle is tilted relative to the target empty parking space.

[0096] S1003: If the vehicle is tilted relative to the target empty parking space and the distance between the center of mass of the vehicle and the center point of the target empty parking space is less than a preset distance threshold, the rotation angle and rotation direction of the vehicle are determined based on the tilt angle of the vehicle and the direction information of the target empty parking space.

[0097] In an embodiment of the present application, if the vehicle is tilted relative to the target empty parking space, and the distance between the center of mass of the vehicle and the center point of the target empty parking space is less than a preset distance threshold, the rotation angle and rotation direction of the vehicle are determined based on the tilt angle of the vehicle and the direction information of the target empty parking space. In some embodiments, the center of mass of the vehicle refers to the mass center of the vehicle, and the position of the center of mass of the vehicle is determined when the vehicle leaves the factory. In some embodiments, when the distance between the center of mass of the vehicle and the center point of the target empty parking space is less than a preset distance threshold, it can be ensured that the vehicle stops in the target empty parking space after rotating around the center of mass of the vehicle. In some embodiments, the center point of the target empty parking space is the exact center of the target empty parking space. In some embodiments, the rotation direction of the vehicle can be clockwise or counterclockwise.

[0098] Specifically, Figure 11 can be taken as an example. Figure 11 is a schematic diagram of the orientation of a vehicle and a target empty parking space provided in other embodiments of the present application. As shown in Figure 11, the vehicle 1101 is tilted relative to the target empty parking space 1102, and the distance between the center of mass 11011 of the vehicle 1101 and the center point 11021 of the target empty parking space 1102 is less than a preset distance threshold. The computing device can determine that the rotation angle of the vehicle is β1 and the rotation direction is counterclockwise based on the tilt angle of the vehicle 1101 and the direction information of the target empty parking space 1102.

[0099] S1004: Based on the rotation angle and the rotation direction, control the vehicle to rotate into the target empty parking space.

[0100] In some embodiments, the computing device controls the rotation of the vehicle by controlling the left and right wheels of the vehicle to rotate in different directions with the center of mass of the vehicle as the origin to control the rotation of the vehicle.

[0101] Taking Figure 11 as an example, the computing device can control the left and right wheels of the vehicle 1101 to rotate in different directions based on the rotation angle and rotation direction, with the center of mass 11011 of the vehicle 1101 as the origin, so as to control the vehicle 1101 to rotate counterclockwise by an angle β1 to the target empty parking space 1102.

[0102] The embodiment of the present application determines the rotation angle and rotation direction of the vehicle according to the tilt angle of the vehicle and the direction information of the target empty parking space when the vehicle is tilted relative to the target empty parking space and the distance between the center of mass of the vehicle and the center point of the target empty parking space is less than a preset distance threshold, and controls the vehicle to rotate into the target empty parking space based on the rotation angle and rotation direction, thereby realizing automatic parking of the vehicle based on rotation control, which helps to improve the efficiency of automatic parking.

[0103] Please refer to Figure 12, which is a flow chart of an automatic parking control method provided in other embodiments of the present application. As shown in Figure 12, the automatic parking control method in this embodiment can be applied to an automatic parking control device, which is set in a computing device. The method may include at least the following operations.

[0104] S1201: Acquire first position information of the vehicle and the vehicle's tilt angle, as well as second position information and direction information of a target empty parking space.

[0105] S1202: Based on the tilt angle of the vehicle and the direction information of the target empty parking space, determine whether the vehicle is tilted relative to the target empty parking space.

[0106] S1203: If the vehicle is tilted relative to the target empty parking space, and the distance between the center of mass of the vehicle and the center point of the target empty parking space is greater than or equal to a preset distance threshold, the rotation angle and rotation direction of the vehicle are determined based on the tilt angle of the vehicle and the direction information of the target empty parking space, and the lateral movement distance and lateral movement direction of the vehicle are determined based on the first position information and the second position information.

[0107] In an embodiment of the present application, if the vehicle is tilted relative to the target empty parking space, and the distance between the vehicle's center of mass and the center point of the target empty parking space is greater than or equal to a preset distance threshold, the computing device may determine the vehicle's rotation angle and rotation direction based on the vehicle's tilt angle and the directional information of the target empty parking space, and determine the vehicle's lateral movement distance and lateral movement direction based on the first position information and the second position information. In some embodiments, when the distance between the vehicle's center of mass and the center point of the target empty parking space is greater than or equal to the preset distance threshold, the boundary line of the target empty parking space may overlap or intersect after the vehicle rotates, i.e., the vehicle may cross the boundary line after the rotation.

[0108] Specifically, Figure 13 can be taken as an example. Figure 13 is a schematic diagram of the orientation of a vehicle and a target empty parking space provided in other embodiments of the present application. As shown in Figure 13, the vehicle 1301 is tilted relative to the target empty parking space 1302, and the distance between the center of mass 13011 of the vehicle 1301 and the center point 13021 of the target empty parking space 1302 is greater than or equal to a preset distance threshold. The computing device can determine the rotation angle β2 of the vehicle 1301 and the rotation direction as counterclockwise based on the tilt angle of the vehicle 1301 and the direction information of the target empty parking space 1302, and determine the lateral movement distance of the vehicle 1301 as h3 and the lateral movement direction as moving to the right side of the vehicle based on the first position information of the vehicle 1301 and the second position information of the target empty parking space 1302.

[0109] S1204: Control the rotation of the vehicle based on the rotation angle and the rotation direction, and control the lateral movement of the vehicle based on the lateral movement distance and the lateral movement direction, until the vehicle is parked in the target empty parking space.

[0110] In an embodiment of the present application, the computing device can control the rotation of the vehicle based on the rotation angle and the rotation direction, and control the lateral movement of the vehicle based on the lateral movement distance and the lateral movement direction until the vehicle is parked in the target empty parking space.

[0111] In some embodiments, the computing device may determine the order in which to control the lateral movement and rotation of the vehicle based on the environmental information. In one example, if an obstacle is detected near the target empty parking space, the order in which to control the lateral movement and rotation of the vehicle may be determined based on the location of the obstacle.

[0112] Taking Figure 13 as an example, the computing device can control the vehicle 1301 to rotate counterclockwise based on the rotation angle β2, and control the vehicle 1301 to move laterally to the right side of the vehicle based on the lateral movement distance h3 until the vehicle 1301 is parked in the target empty parking space 1302.

[0113] The embodiment of the present application determines the rotation angle and rotation direction of the vehicle according to the tilt angle of the vehicle and the direction information of the target empty parking space, and determines the lateral movement distance and lateral movement direction of the vehicle according to the first position information and the second position information when the vehicle is tilted relative to the target empty parking space and the distance between the center of mass of the vehicle and the center point of the target empty parking space is greater than or equal to a preset distance threshold. This achieves automatic parking of the vehicle based on rotation and lateral movement control, which helps to improve the efficiency of automatic parking.

[0114] Referring to FIG14, FIG14 is a schematic diagram of the structure of an automatic parking control device provided by an embodiment of the present application. As shown in FIG14, the automatic parking control device 1400 includes an acquisition unit 1401, a judgment unit 1402, a determination unit 1403, and a control unit 1404, wherein:

[0115] An acquiring unit 1401 is configured to acquire first position information of the vehicle and a tilt angle of the vehicle, as well as second position information and direction information of a target empty parking space;

[0116] A determination unit 1402 is configured to determine whether the vehicle is tilted relative to the target empty parking space based on the tilt angle of the vehicle and the direction information of the target empty parking space;

[0117] a determining unit 1403 configured to determine a lateral movement distance and a lateral movement direction of the vehicle based on the first position information and the second position information if the vehicle is not tilted relative to the target empty parking space;

[0118] The control unit 1404 is configured to control the vehicle to move laterally into the target empty parking space based on the lateral movement distance and the lateral movement direction.

[0119] Furthermore, the determining unit 1403 is further configured to:

[0120] If the vehicle is not tilted relative to the target empty parking space, the orientations of the vehicle and the target empty parking space are parallel, the front of the vehicle does not exceed the first parking space boundary line of the target empty parking space, and the rear of the vehicle does not exceed the second parking space boundary line of the target empty parking space, then the operation of determining the lateral movement distance and lateral movement direction of the vehicle based on the first position information and the second position information is triggered.

[0121] Furthermore, the determining unit 1403 is further configured to:

[0122] If the vehicle is not tilted relative to the target empty parking space, and any side of the vehicle exceeds the corresponding parking space boundary line of the target empty parking space, determining the lateral movement distance, lateral movement direction, longitudinal movement distance, and longitudinal movement direction of the vehicle based on the first position information and the second position information, wherein the "any side" refers to any side of the vehicle body, front, or rear;

[0123] The vehicle is controlled to move laterally based on the lateral movement distance and the lateral movement direction, and the vehicle is controlled to move longitudinally based on the longitudinal movement distance and the longitudinal movement direction, until the vehicle moves into the target empty parking space.

[0124] Furthermore, the determining unit 1403 is further configured to:

[0125] If the vehicle is tilted relative to the target empty parking space and the distance between the center of mass of the vehicle and the center point of the target empty parking space is less than a preset distance threshold, determining the rotation angle and rotation direction of the vehicle based on the tilt angle of the vehicle and the direction information of the target empty parking space;

[0126] Based on the rotation angle and the rotation direction, the vehicle is controlled to rotate into the target empty parking space.

[0127] Furthermore, the determining unit 1403 is further configured to:

[0128] If the vehicle is tilted relative to the target empty parking space and the distance between the center of mass of the vehicle and the center point of the target empty parking space is greater than or equal to a preset distance threshold, determining the rotation angle and rotation direction of the vehicle based on the tilt angle of the vehicle and the direction information of the target empty parking space, and determining the lateral movement distance and lateral movement direction of the vehicle based on the first position information and the second position information;

[0129] The vehicle is controlled to rotate based on the rotation angle and the rotation direction, and the vehicle is controlled to move laterally based on the lateral movement distance and the lateral movement direction until the vehicle is parked in the target empty parking space.

[0130] Furthermore, when controlling the lateral movement of the vehicle, the control unit 1404 is specifically configured to:

[0131] Controlling the left front wheel and the right rear wheel of the vehicle to rotate forward, and controlling the left rear wheel and the right front wheel of the vehicle to rotate backward, so as to control the vehicle to move parallel to the left;

[0132] The left front wheel and the right rear wheel of the vehicle are controlled to rotate backward, and the left rear wheel and the right front wheel of the vehicle are controlled to rotate forward, so as to control the vehicle to move parallel to the right.

[0133] Furthermore, when controlling the vehicle to rotate, the control unit 1404 is specifically configured to:

[0134] Taking the center of mass of the vehicle as the origin, the left and right wheels of the vehicle are controlled to rotate in different directions to control the rotation of the vehicle.

[0135] In an embodiment of the present application, the automatic parking control device can obtain first position information of the vehicle and the vehicle's tilt angle, as well as second position information and direction information of the target empty parking space; based on the vehicle's tilt angle and the direction information of the target empty parking space, determine whether the vehicle is tilted relative to the target empty parking space; if the vehicle is not tilted relative to the target empty parking space, determine the vehicle's lateral movement distance and lateral movement direction based on the first position information and the second position information; based on the lateral movement distance and lateral movement direction, control the vehicle to move laterally into the target empty parking space, which helps to improve the efficiency of automatic parking.

[0136] Referring to Figure 15 , Figure 15 is a schematic diagram of the structure of a computing device provided in an embodiment of the present application. As shown in Figure 15 , computing device 1500 may include one or more processors 1501, memory 1502, a bus 1503, and a communication interface 1504. Processor 1501, communication interface 1504, and memory 1502 are connected via bus 1503. Memory 1502 is used to store programs. Processor 1501 is used to call the program stored in the above memory via bus 1503 and perform the following operations:

[0137] Acquire first position information of the vehicle and the vehicle's tilt angle, as well as second position information and direction information of the target empty parking space;

[0138] determining whether the vehicle is tilted relative to the target empty parking space based on the tilt angle of the vehicle and the direction information of the target empty parking space;

[0139] If the vehicle is not tilted relative to the target empty parking space, determining a lateral movement distance and a lateral movement direction of the vehicle based on the first position information and the second position information;

[0140] Based on the lateral movement distance and the lateral movement direction, the vehicle is controlled to move laterally into the target empty parking space.

[0141] Furthermore, the processor 1501 is further configured to:

[0142] If the vehicle is not tilted relative to the target empty parking space, the orientations of the vehicle and the target empty parking space are parallel, the front of the vehicle does not exceed the first parking space boundary line of the target empty parking space, and the rear of the vehicle does not exceed the second parking space boundary line of the target empty parking space, then the operation of determining the lateral movement distance and lateral movement direction of the vehicle based on the first position information and the second position information is triggered.

[0143] Furthermore, the processor 1501 is further configured to:

[0144] If the vehicle is not tilted relative to the target empty parking space, and any side of the vehicle exceeds the corresponding parking space boundary line of the target empty parking space, determining the lateral movement distance, lateral movement direction, longitudinal movement distance, and longitudinal movement direction of the vehicle based on the first position information and the second position information, wherein the "any side" refers to any side of the vehicle body, front, or rear;

[0145] The vehicle is controlled to move laterally based on the lateral movement distance and the lateral movement direction, and the vehicle is controlled to move longitudinally based on the longitudinal movement distance and the longitudinal movement direction, until the vehicle moves into the target empty parking space.

[0146] Furthermore, the processor 1501 is further configured to:

[0147] If the vehicle is tilted relative to the target empty parking space and the distance between the center of mass of the vehicle and the center point of the target empty parking space is less than a preset distance threshold, determining the rotation angle and rotation direction of the vehicle based on the tilt angle of the vehicle and the direction information of the target empty parking space;

[0148] Based on the rotation angle and the rotation direction, the vehicle is controlled to rotate into the target empty parking space.

[0149] Furthermore, the processor 1501 is further configured to:

[0150] If the vehicle is tilted relative to the target empty parking space and the distance between the center of mass of the vehicle and the center point of the target empty parking space is greater than or equal to a preset distance threshold, determining the rotation angle and rotation direction of the vehicle based on the tilt angle of the vehicle and the direction information of the target empty parking space, and determining the lateral movement distance and lateral movement direction of the vehicle based on the first position information and the second position information;

[0151] The vehicle is controlled to rotate based on the rotation angle and the rotation direction, and the vehicle is controlled to move laterally based on the lateral movement distance and the lateral movement direction until the vehicle is parked in the target empty parking space.

[0152] Furthermore, when controlling the lateral movement of the vehicle, the processor 1501 is specifically configured to:

[0153] Controlling the left front wheel and the right rear wheel of the vehicle to rotate forward, and controlling the left rear wheel and the right front wheel of the vehicle to rotate backward, so as to control the vehicle to move parallel to the left;

[0154] The left front wheel and the right rear wheel of the vehicle are controlled to rotate backward, and the left rear wheel and the right front wheel of the vehicle are controlled to rotate forward, so as to control the vehicle to move parallel to the right.

[0155] Furthermore, when controlling the rotation of the vehicle, the processor 1501 is specifically configured to:

[0156] Taking the center of mass of the vehicle as the origin, the left and right wheels of the vehicle are controlled to rotate in different directions to control the rotation of the vehicle.

[0157] In an embodiment of the present application, a computing device can obtain first position information of the vehicle and the vehicle's tilt angle, as well as second position information and direction information of a target empty parking space; based on the vehicle's tilt angle and the direction information of the target empty parking space, determine whether the vehicle is tilted relative to the target empty parking space; if the vehicle is not tilted relative to the target empty parking space, determine the vehicle's lateral movement distance and lateral movement direction based on the first position information and the second position information; based on the lateral movement distance and the lateral movement direction, control the vehicle to move laterally into the target empty parking space, which helps to improve the efficiency of automatic parking.

[0158] It should be understood that in the embodiment of the present application, the processor 1501 may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0159] The memory 1502 may include a read-only memory and a random access memory, and provides instructions and data to the processor 1501. A portion of the memory 1502 may also include a non-volatile random access memory. For example, the memory 1502 may also store device type information.

[0160] In a specific implementation, the processor 1501 described in the embodiment of the present application can execute the implementation method described in the automatic parking control method provided in the embodiment of the present application, and can also execute the implementation method of the automatic parking control device described in the embodiment of the present application, which will not be repeated here.

[0161] The present application also provides a vehicle. As shown in FIG16 , vehicle 1600 includes a vehicle body 1601 and a computing device 1500 . The computing device is configured to execute the method described in conjunction with FIG2 , FIG7 , FIG10 , or FIG12 to control automatic parking of the vehicle.

[0162] An embodiment of the present application also provides a computer-readable storage medium, in which program instructions are stored. When the program instructions are executed, the method described in combination with Figure 2, Figure 7, Figure 10, or Figure 12 is implemented.

[0163] Those skilled in the art will appreciate 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 composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0164] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the terminals and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0165] In the several embodiments provided in this application, it should be understood that the disclosed computing devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, or can be an electrical, mechanical or other form of connection.

[0166] The operations in the embodiment of the method of the present application can be adjusted in sequence, combined, and deleted according to actual needs.

[0167] The units in the terminal of the embodiment of the present application can be merged, divided and deleted according to actual needs.

[0168] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected according to actual needs to implement the embodiments of the present application.

[0169] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0170] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0171] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present application, and such modifications or substitutions should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. An automatic parking control method, characterized in that: The method comprises: Acquiring (S201, S701, S1001, S1201) first position information of a vehicle and an inclination angle of the vehicle and second position information and direction information of a target empty parking space; Based on the tilt angle of the vehicle and the direction information of the target empty parking space, determining (S202, S702, S1002, S1202) whether the vehicle is tilted relative to the target empty parking space; If the vehicle is not tilted relative to the target empty parking space, determining (S203) a lateral movement distance and a lateral movement direction of the vehicle according to the first position information and the second position information; and Based on the lateral movement distance and the lateral movement direction, the vehicle is controlled ( S204 ) to move laterally into the target empty parking space.

2. The method according to claim 1, characterized in that: If the vehicle is not tilted relative to the target empty parking space, determining the lateral movement distance and lateral movement direction of the vehicle according to the first position information and the second position information includes: If the vehicle is not tilted relative to the target empty parking space, the front of the vehicle does not exceed the first parking space boundary line of the target empty parking space, and the rear of the vehicle does not exceed the second parking space boundary line of the target empty parking space, then the lateral movement distance and the lateral movement direction of the vehicle are determined according to the first position information and the second position information.

3. The method according to claim 1, characterized in that If the vehicle is not tilted relative to the target empty parking space, determining the lateral movement distance and lateral movement direction of the vehicle according to the first position information and the second position information includes: If the vehicle is not tilted relative to the target empty parking space, and any side of the vehicle exceeds the corresponding parking space boundary line of the target empty parking space, then determining (S703) the lateral movement distance, the lateral movement direction, the longitudinal movement distance, and the longitudinal movement direction of the vehicle according to the first position information and the second position information, wherein the any side refers to any side of the vehicle body, the front, or the rear of the vehicle; and The controlling the vehicle to move laterally to the target empty parking space based on the lateral movement distance and the lateral movement direction includes: The vehicle is controlled to move laterally based on the lateral moving distance and the lateral moving direction (S704), and the vehicle is controlled to move longitudinally based on the longitudinal moving distance and the longitudinal moving direction (S704), until the vehicle moves into the target empty parking space.

4. The method according to claim 1, characterized in that The method further comprises: If the vehicle is tilted relative to the target empty parking space, and the distance between the center of mass of the vehicle and the center point of the target empty parking space is less than a preset distance threshold, determining (S1003) a rotation angle and a rotation direction of the vehicle according to the tilt angle of the vehicle and the direction information of the target empty parking space; and Based on the rotation angle and the rotation direction, the vehicle is controlled ( S1004 ) to rotate into the target empty parking space.

5. The method according to claim 1, characterized in that The method further comprises: If the vehicle is tilted relative to the target empty parking space, and the distance between the center of mass of the vehicle and the center point of the target empty parking space is if the distance between the target empty parking space and the target parking space is greater than or equal to a preset distance threshold, determining (S1203) the rotation angle and the rotation direction of the vehicle according to the tilt angle of the vehicle and the direction information of the target empty parking space, and determining (S1203) the lateral movement distance and the lateral movement direction of the vehicle according to the first position information and the second position information; and The vehicle is controlled to rotate based on the rotation angle and the rotation direction ( S1204 ), and the vehicle is controlled to move laterally based on the lateral movement distance and the lateral movement direction ( S1204 ), until the vehicle moves into the target empty parking space.

6. The method according to any one of claims 1 to 3 or 5, characterized in that: Controlling the lateral movement of the vehicle includes: Control the left front wheel and the right rear wheel of the vehicle to rotate forward, and control the left rear wheel and the right front wheel of the vehicle to rotate backward, so as to control the vehicle to move parallel to the left; or The left front wheel and the right rear wheel of the vehicle are controlled to rotate backward, and the left rear wheel and the right front wheel of the vehicle are controlled to rotate forward, so as to control the vehicle to move parallel to the right.

7. The method according to claim 4 or 5, characterized in that: Controlling the vehicle rotation includes: Taking the center of mass of the vehicle as the origin, the vehicle is controlled to rotate by controlling the left wheels and the right wheels of the vehicle to rotate in different directions.

8. The method according to any one of claims 1 to 7, characterized in that: The obtaining the tilt angle of the vehicle comprises: Determining the coordinates of four corner points of the vehicle in a preset coordinate system, wherein the coordinate system is established with the transverse centerline and the longitudinal centerline of the vehicle as coordinate axes; and The inclination angle of the vehicle relative to a horizontal plane is calculated according to the coordinates of the four corner points of the vehicle in the preset coordinate system.

9. The method according to any one of claims 1 to 8, characterized in that: The acquiring the direction information of the target empty parking space includes: Determine the coordinates of four corner points of the target empty parking space in a preset coordinate system, wherein the coordinate system is established with the transverse centerline and the longitudinal centerline of the vehicle as coordinate axes; Calculating the length direction of the target empty parking space according to the coordinates of the four corner points of the target empty parking space in the preset coordinate system; and The length direction of the target empty parking space is determined as the direction information of the target empty parking space.

10. The method according to any one of claims 1 to 9, characterized in that: The determining whether the vehicle is tilted relative to the target empty parking space based on the tilt angle of the vehicle and the direction information of the target empty parking space includes: Determining the inclination angle of the vehicle relative to the target empty parking space according to the inclination angle of the vehicle and the direction information of the target empty parking space; If the inclination angle of the vehicle relative to the target empty parking space is not equal to 0, it is determined that the vehicle is inclined relative to the target empty parking space; or If the inclination angle of the vehicle relative to the target empty parking space is equal to 0, it is determined that the vehicle is not inclined relative to the target empty parking space.

11. The method according to claim 10, characterized in that The determining the inclination angle of the vehicle relative to the target empty parking space according to the inclination angle of the vehicle and the direction information of the target empty parking space comprises: The tilt angle of the vehicle relative to the target empty parking space is determined according to the tilt angle of the vehicle, the direction information of the target empty parking space, and an angle calculation formula.

12. An automatic parking control device (1400), characterized in that: The device comprises: An acquisition unit (1401) is used to acquire first position information of a vehicle and an inclination angle of the vehicle and second position information and direction information of a target empty parking space; A judgment unit (1402) is used to judge whether the vehicle is tilted relative to the target empty parking space based on the tilt angle of the vehicle and the direction information of the target empty parking space; a determining unit (1403), configured to determine a lateral movement distance and a lateral movement direction of the vehicle according to the first position information and the second position information if the vehicle is not tilted relative to the target empty parking space; and A control unit (1404) is used to control the vehicle to move laterally into the target empty parking space based on the lateral movement distance and the lateral movement direction.

13. A computing device (1500), characterized in that The invention comprises a processor (1501) and a memory (1502), wherein the processor and the memory are connected to each other, wherein the memory is used to store a computer program, and the processor is configured to call the computer program to execute the method according to any one of claims 1 to 11.

14. A vehicle (1600), characterized in that: The vehicle comprises a car body (1601) and a computing device (1500), wherein the computing device is used to execute the method according to any one of claims 1 to 11 to control automatic parking of the vehicle.

15. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores program instructions, which, when executed, implement the method according to any one of claims 1 to 11.

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