A storage location management method, device, computer equipment and storage medium

Abstract

The present application provides a storage location management method, apparatus, computer equipment, and storage medium. The method determines the storage location detected by the sensors on the current vehicle, including visual sensors and ultrasonic sensors. The method manages the current historical storage location pool using the current storage location to obtain a target historical storage location pool. The management includes creating a new current storage location in the historical storage location pool or updating a storage location in the historical storage location pool using the current storage location. The method then determines the parking space in the target historical storage location pool based on the current vehicle's position. The parking space is unoccupied and there is a parking path between the current vehicle's position and the parking space. The present application can rely on visual sensors and ultrasonic sensors to manage parking spaces, avoiding the problem of difficulty in finding storage spaces during the actual storage location scanning stage caused by existing storage location perception methods due to limited usage scenarios and single parking information.

Description

Technical Field

[0001] The present invention relates to the field of parking assistance technology, and more particularly to a storage location management method, device, computer equipment and storage medium. Background Art

[0002] Advanced driver assistance technology has developed rapidly in recent years, and automated parking (APA), as a core technology, has been a key research focus. This technology can be broadly divided into sub-functions, including storage location perception and vehicle decision-making and control. Traditionally, there are two methods for sensing storage locations: ultrasonic sensors for ultrasonic location detection and visual sensors for visual location detection. Both methods suffer from limitations in adaptability to specific scenarios and limited parking information, making it difficult to detect locations during actual scanning. Summary of the Invention

[0003] In view of this, and to solve the above problems, the present invention provides a storage location management method, device, computer equipment and storage medium to avoid the problem of difficulty in finding storage locations during the actual storage location scanning stage caused by the existing storage location perception methods due to the limited use scenarios and single parking information. The technical solution is as follows:

[0004] A storage location management method, comprising:

[0005] Determining a storage location detected by sensors on the current vehicle, wherein the sensors include a visual sensor and an ultrasonic sensor;

[0006] Managing the current storage location pool using the current storage location to obtain a target storage location pool, wherein the management includes creating a new storage location in the current storage location pool or updating a storage location in the current storage location pool using the current storage location;

[0007] A parking space in the target parking pool is determined according to the current position of the vehicle, wherein the parking space is not occupied and a parking path exists between the current position of the vehicle and the parking space.

[0008] Preferably, the step of managing the current storage location pool using the current storage location to obtain the target storage location pool includes:

[0009] Determine whether there is a target storage location matching the current storage location in the current storage location pool, where the target storage location is a pure ultrasound storage location or a pure visual storage location;

[0010] If there is a target storage location matching the current storage location in the current storage location pool, the target storage location in the current storage location pool is updated using the current storage location;

[0011] Update the fusion storage location that matches the current storage location in the current storage location pool according to the current storage location;

[0012] If there is no target location matching the current location in the current location pool, a new location will be created in the current location pool.

[0013] Preferably, determining whether there is a target storage location matching the current storage location in the current storage location pool includes:

[0014] Determine the source of the currently stated location;

[0015] Determine whether there is a first storage location that matches the current storage location among the storage locations in the current storage location pool that have the same source as the current storage location;

[0016] If there is a first storage location matching the current storage location among the storage locations in the current storage location pool that have the same source as the current storage location, determine the first storage location as the target storage location matching the current storage location;

[0017] If there is no first storage location matching the current storage location among the storage locations in the current storage location pool whose sources are the same as the current storage location, determine whether there is a second storage location matching the current storage location among the storage locations in the current storage location pool whose sources are different from the current storage location;

[0018] If there is a second storage location matching the current storage location among the storage locations in the current storage location pool whose sources are different from the current storage location, the second storage location is determined as the target storage location matching the current storage location;

[0019] If there is no second storage location matching the current storage location among the storage locations in the current historical storage location pool whose sources are different from the current storage location, it is determined that there is no target storage location matching the current storage location in the current storage location pool.

[0020] Preferably, determining a parking space in the target parking pool according to the current position of the vehicle includes:

[0021] Determining whether the third storage location in the target storage location pool is occupied;

[0022] If the third storage location in the target storage location pool is not occupied, determining whether there is a parking path between the third storage location and the current position of the vehicle;

[0023] If there is a parking path between the third parking space and the current position of the vehicle, the third parking space is determined to be a parking space.

[0024] Preferably, the determining whether the third storage location in the target storage location pool is occupied includes:

[0025] Taking each storage location in the target storage location pool as a third storage location in turn, and determining the source of the third storage location;

[0026] If the source of the third storage location is related to the visual sensor, determining whether the third storage location is occupied;

[0027] If the third storage location is not occupied, determining a position of a limit obstacle point associated with the third storage location;

[0028] The determining whether a parking path exists between the third storage location and the current position of the vehicle includes: determining whether a parking path exists between the third storage location and the current position of the vehicle based on the position of the extreme obstacle point.

[0029] Preferably, it also includes:

[0030] Determine whether the storage locations in the current storage location pool meet the deletion conditions;

[0031] If the storage location in the current storage location pool meets the deletion condition, the storage location is deleted from the current storage location pool.

[0032] Preferably, it also includes:

[0033] The midpoint coordinates of the storage locations in the target storage location pool are projected onto the current vehicle's direction of travel, and the storage locations in the target storage location pool are sorted in order of the points in the vehicle's direction of travel to obtain a spatial sequence storage location pool.

[0034] A storage location management device, comprising:

[0035] A storage location determination unit, configured to determine a storage location detected by a sensor on the current vehicle, wherein the sensor includes a visual sensor and an ultrasonic sensor;

[0036] A storage location management unit is used to manage the current storage location pool using the current storage location to obtain a target storage location pool, wherein the management includes creating a new storage location in the current storage location pool or updating a storage location in the current storage location pool using the current storage location;

[0037] The parking space determining unit is configured to determine a parking space in the target parking space pool according to the current position of the vehicle, wherein the parking space is unoccupied and a parking path exists between the current position of the vehicle and the parking space.

[0038] A computer device includes: a processor and a memory, wherein the processor and the memory are connected via a communication bus; wherein the processor is used to call and execute a program stored in the memory; and the memory is used to store a program, wherein the program is used to implement the storage location management method.

[0039] A computer-readable storage medium stores a computer program, which is loaded and executed by a processor to implement the steps of the storage location management method.

[0040] The present application provides a storage location management method, apparatus, computer equipment, and storage medium. The method determines the storage location detected by the sensors on the current vehicle, including visual sensors and ultrasonic sensors. The method manages the current historical storage location pool using the current storage location to obtain a target historical storage location pool. The management includes creating a new current storage location in the historical storage location pool or updating a storage location in the historical storage location pool using the current storage location. The method then determines the parking space in the target historical storage location pool based on the current vehicle's position. The parking space is unoccupied and there is a parking path between the current vehicle's position and the parking space. The present application can rely on visual sensors and ultrasonic sensors to manage parking spaces, avoiding the problem of difficulty in finding storage spaces during the actual storage location scanning stage caused by existing storage location perception methods due to limited usage scenarios and single parking information. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present invention 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 merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0042] Figure 1 A schematic diagram of the structure of a storage location management system provided in an embodiment of the present application;

[0043] Figure 2 A schematic diagram of a storage location management method provided in an embodiment of the present application;

[0044] Figure 3 A schematic diagram of a storage pool provided in an embodiment of the present application;

[0045] Figure 4 A schematic diagram of specific information of a fused storage location provided in an embodiment of the present application;

[0046] Figure 5 A schematic diagram of an ultrasound frame data processing flow is provided for an embodiment of the present application;

[0047] Figure 6 A current frame provided in an embodiment of the present application is a flow chart of visual frame data processing;

[0048] Figure 7 A parking space deletion flow chart provided in an embodiment of the present application;

[0049] Figure 8A virtual schematic diagram of a corner point provided in an embodiment of the present application;

[0050] Figure 9 A schematic diagram of occupation determination provided in an embodiment of the present application;

[0051] Figure 10 A flow chart of a storage location management method provided in an embodiment of the present application;

[0052] Figure 11 A schematic diagram of calculating the degree of overlap of two ultrasonic corner point detection results provided in an embodiment of the present application;

[0053] Figure 12 A sorting process flow chart provided in an embodiment of the present application;

[0054] Figure 13 A schematic diagram of the structure of a storage location management device provided in an embodiment of the present application;

[0055] Figure 14 A hardware structure block diagram of a computer device applicable to a storage location management method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0056] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0057] Example:

[0058] The embodiment of the present application provides a storage location management method that is applied to a storage location management system. The storage location management system includes a logic scheduling module, a storage location creation module, a storage location association module, a storage location update module, a storage location deletion module, a storage location sorting module, and a storage location availability determination module. The storage location management system of the present application is as follows: Figure 1 After the visual and ultrasonic storage locations are input, the logic scheduling module first determines whether the system status is scanning or updating, and then schedules various small algorithm modules within.

[0059] For example, the storage location management system provided by the embodiment of the present application realizes the purpose of storage location management through the main processes such as logical interaction of the logical scheduling module, creation of storage locations, matching and association of storage locations, updating of storage locations, deletion of storage locations, sorting of storage locations, and availability determination of storage locations. The design process of the present application is as follows: Figure 2 shown.

[0060] Different ultrasonic location data and visual location data need to be placed in different locations. The container for storing different locations is called a location pool. The total size of the location pool is N locations on each side. The maximum number of locations can be set. According to the input visual location direction and ultrasonic location direction, different locations are placed in the corresponding location pool on the left and right sides. The schematic diagram of the location pool is as follows Figure 3 shown.

[0061] A single storage location is divided into three types according to the source of the storage location, namely pure ultrasonic storage location, pure visual storage location, and fusion storage location. The main basis for distinguishing different sources is whether the first two corner points of the visual storage location and the two corner points of the ultrasonic storage location have overlapping areas. The visual corner points of the fusion storage location on the right are S0, S1, S2, and S3 in a clockwise direction, and the two ultrasonic corner points of the fusion storage location are A0 and A1. The order of the corner points of the left storage location and the right storage location are mirror images of each other, as described in detail below. Figure 4 shown.

[0062] The following is Figure 2 The implementation process of each step of the storage location management method diagram shown is described in detail.

[0063] 1. Logical interaction

[0064] The logical interaction mainly completes two operations. The first part is responsible for opening and closing the external visual location detection module and the ultrasonic location detection module. After the corresponding modules are opened, the internal module's location matching, updating, deletion, and available judgment module are performed; the second part is responsible for dividing the internal location detection into location detection in the scanning location stage and location detection in the parking and warehousing stage; the scanning location detection updates multiple fused location information, and the parking and warehousing stage updates the specified fused location information.

[0065] For example, the visual storage location detection module may be a visual sensor, and the ultrasonic storage location detection module may be an ultrasonic sensor. Accordingly, the storage location detected by the visual storage location detection module may be referred to as a visual storage location, and the storage location detected by the ultrasonic storage location detection module may be referred to as an ultrasonic storage location.

[0066] In this embodiment of the present application, the location information of the visual storage location detected by the visual storage location detection module includes the four corner points of the visual storage location, and the location information of the ultrasonic storage location detected by the ultrasonic storage location detection module includes the two corner points of the ultrasonic storage location. The visual storage location detected by the visual storage location detection module carries an ID. For the same visual storage location, the two visual storage locations detected by the visual storage location detection module carry the same ID; for different visual storage locations, the two visual storage locations detected by the visual storage location detection module carry different IDs.

[0067] For example, the storage location information of the visual storage location detected by the visual storage location detection module can be referred to as visual storage location information, and the storage location information of the ultrasonic storage location detected by the ultrasonic storage location detection module can be referred to as ultrasonic storage location information.

[0068] 2. Storage location matching

[0069] There are three criteria for location matching:

[0070] 1. The visual storage location and the ultrasonic storage location are matched based on the overlapping area. The match is successful when the overlapping area reaches a certain threshold.

[0071] 2. The visual storage locations are matched by ID. If the IDs of the two visual storage locations are the same, the match is successful.

[0072] 3. Ultrasonic storage locations are matched by overlapping area. When the overlapping area reaches a certain threshold, the match is successful.

[0073] The location matching module receives ultrasonic location information and visual location information. The location matching process is as follows: Figure 5 As shown. If the current frame is an ultrasonic frame, the ultrasonic storage location is currently detected. The ultrasonic storage location is matched with the historical ultrasonic storage locations in the storage location pool. If a match is found, the storage location information of the historical ultrasonic storage location in the storage location pool that matches the ultrasonic storage location is updated. At the same time, all fusion storage locations associated with the ultrasonic storage location in the storage location pool are traversed to update the ultrasonic storage location information in the fusion storage location. If a match is not found, the ultrasonic storage location is matched with the historical visual storage location in the storage location pool. If a match is successful, the historical visual storage location in the storage location pool that matches the ultrasonic storage location is updated to a fusion storage location, and the ultrasonic storage location information of the ultrasonic storage location is added to the fusion storage location. If a match is not found, a new ultrasonic storage location is created (that is, a new pure ultrasonic storage location). That is, the storage location information of the fusion storage location includes not only visual storage location information but also ultrasonic storage location information.

[0074] If the current frame is a visual frame, the currently detected location is a visual location. The visual location is matched with the historical visual location in the location pool. If a match is found, the location information of the historical visual location that matches the visual location in the location pool is updated. At the same time, all fusion locations associated with the visual location in the location pool are traversed to update the visual location information in the fusion location. If a match is not found, the visual location is matched with the historical ultrasonic location. If a match is successful, the historical ultrasonic location that matches the visual location in the location pool is updated to a fusion location, and the visual location information of the visual location is added to the fusion location. If a match is not found, a new visual location is created (that is, a new pure visual location is created). The specific process is as follows. Figure 6 shown.

[0075] 3. New construction and update of storage locations

[0076] When creating and updating a storage location, the corresponding ultrasonic storage location information and visual storage location information are written into the corresponding fusion storage location respectively. The information that needs to be read in includes the four visual corner point information and two ultrasonic storage location corner point information in the world coordinate system. In addition to the storage location corner point information, the fusion storage location also provides the type of storage location, source (for example, pure ultrasonic storage location, pure visual storage location, fusion storage location), direction (whether the storage location is on the left or right side of the vehicle), curb, wheel block, storage location availability determination and other information.

[0077] There are three types of storage location types: parallel, vertical, and unknown. When a storage location is created, if the fusion storage location can be associated with a visual storage location (i.e., the fusion storage location includes visual storage location information), the storage location type of the fusion storage location shall be based on the storage location type indicated by the associated visual storage location; if the visual storage location associated with the fusion storage location does not indicate the storage location type, the storage location type of the fusion storage location shall be based on the storage location type indicated by the associated ultrasonic storage location (i.e., the fusion storage location includes ultrasonic storage location information); if neither the visual storage location nor the ultrasonic storage location associated with the fusion storage location indicates the storage location type, the storage location type output by the fusion storage location is unknown.

[0078] 4. Deletion of storage location

[0079] The location management system provides services for the parking system. Location deletion first determines whether the parking system has exited. If the parking system has exited, the location management system clears the location pool. Secondly, the location deletion module can determine whether the corresponding visual location and ultrasonic location in the location pool meet the deletion conditions, record the deletion flags of the visual location and ultrasonic location, and determine whether to delete the location based on the flags. The detailed flowchart is as follows: Figure 7 As shown, combined Figure 7 It can be seen that there are five main conditions for deleting a storage location:

[0080] (1) For each storage location, maintain an effective storage location boundary and delete the storage location when the distance from the storage location to the center point is greater than or equal to 15m;

[0081] (2) For each storage location, the vehicle mileage is accumulated starting from the time the storage location is created / updated. When the mileage is greater than or equal to 15m, the storage location is deleted;

[0082] (3) For each storage location, if the difference between the vehicle heading and the storage location direction is greater than or equal to ±60°, the storage location will be deleted;

[0083] (4) After exiting the parking system, all storage locations in the storage pool are deleted;

[0084] (5) When the storage pool is full, the storage location farthest from the vehicle will be deleted.

[0085] 5. Determine the availability of storage space

[0086] The available location determination has two functions: corner point virtualization and occupied location determination. Corner point virtualization refers to the position of the extreme obstacle point within the specified range of the visual location calculation. For a schematic diagram of corner point virtualization, please refer to Figure 8 Occupancy determination refers to using ultrasonic information to determine whether a visual storage location is occupied. The positional relationship between the virtual extreme obstacle points and the visual storage location corner points is used to determine whether the visual storage location is available.

[0087] When parking, the two most important considerations are the visual location wireframe and the obstacles surrounding the visual location. When an ultrasonic location exists, constrained parking can be performed based on both ultrasonic and visual corner points. If an ultrasonic location does not exist, ultrasonic obstacle data should be used to create virtual ultrasonic corner points for constrained parking. When creating virtual ultrasonic location corner points, consider ultrasonic points within a certain range of the visual location. The extreme points within this range are considered ultrasonic corner points. If no ultrasonic points are within the specified range, the default corner values ​​are used.

[0088] After calculating the limit position point, it is necessary to determine whether the visual storage location is occupied. The occupation determination is divided into 6 categories, as follows Figure 9 As shown, by calculating cosα1, cosα2, cosβ1, and cosβ2 to distinguish different situations, the overlapping area is calculated in each case to obtain the available area of ​​a single visual storage location. Different occupation thresholds are set for parallel and vertical storage locations, and the location's occupancy is determined based on the thresholds. For each storage location, there are two obstacle boundaries, and only obstacles within the boundary range are considered. Also, only obstacles within a certain depth range are considered.

[0089] 6. Storage location sorting

[0090] Due to the addition and deletion operations in the storage location pool, the actual storage locations may be out of order. At this time, it is necessary to sort the storage locations in the storage location pool to obtain storage locations with a certain spatial order. The sorting is mainly done through the bubble sort method. The midpoint coordinates of the storage locations are projected onto the direction of the vehicle's travel, and the points are sorted in the order of the points in this direction.

[0091] This application can interact with external visual detection function modules (visual sensors) and ultrasonic detection function modules (ultrasonic sensors), turn on and off corresponding function modules. When the two functional detection modes are turned on, the storage location management system provided by this application continuously fuses the visual storage locations and ultrasonic storage locations, and outputs the fused storage locations to the planning control and other modules for use. The planning control template can be used for path planning. The storage location information contained in the fused storage location includes 4 visual corner point information and 2 ultrasonic storage location corner point information in the world coordinate system. In addition to the storage location corner point information, it also provides the type, source, direction, curb, wheel block, storage location availability determination and other information of the storage location. The storage location management system can fuse the results of different sensors. When scanning parking spaces, it supports both single visual storage locations or ultrasonic storage locations and fused storage locations composed of visual and ultrasonic locations, making the parking scenes that support recognition richer.

[0092] The following describes in detail a storage location management method provided by the embodiment of the present application in combination with the above storage location management system. Figure 10 .

[0093] like Figure 10 As shown, the method includes:

[0094] S1001. Determine the storage location detected by the sensors on the current vehicle, where the sensors include a visual sensor and an ultrasonic sensor;

[0095] In an embodiment of the present application, a visual sensor and an ultrasonic sensor are installed on the vehicle, and both can be activated simultaneously. The visual sensor can detect visual storage location information, which indicates the visual storage location and includes the ID of the visual storage location indicated by the visual storage location information and the four corner points of the visual storage location. The ultrasonic storage location can detect ultrasonic storage location information, which indicates the ultrasonic storage location and includes the two corner points of the ultrasonic storage location indicated by the ultrasonic storage location information.

[0096] For example, the storage location detected by the sensor on the current vehicle may be an ultrasonic storage location detected by an ultrasonic sensor, or may be a visual storage location detected by a visual sensor.

[0097] S1002. Manage the current storage location pool using the current storage location to obtain a target storage location pool. The management includes creating a new current storage location in the current storage location pool or updating a storage location in the current storage location pool using the current storage location.

[0098] In an embodiment of the present application, the initial state of the storage location pool is empty. Whenever a storage location detected by a sensor on the current vehicle is determined, the current storage location pool can be managed according to the currently detected storage location to obtain a managed storage location pool. In order to facilitate distinction, the managed storage location pool can be called a target storage location pool.

[0099] Exemplarily, the method of managing the current storage location pool by using the current storage location may be to create a new current storage location in the current storage location pool, or to update the storage locations in the current storage location pool by using the current storage location.

[0100] In an embodiment of the present application, the current storage location is used to manage the current storage location pool to obtain a target storage location pool, including: judging whether there is a target storage location matching the current storage location in the current storage location pool, the target storage location is a pure ultrasound storage location or a pure vision storage location; if there is a target storage location matching the current storage location in the current storage location pool, using the current storage location to update the target storage location in the current storage location pool; updating the fusion storage location matching the current storage location in the current storage location pool according to the current storage location; if there is no target storage location matching the current storage location in the current storage location pool, creating a new current storage location in the current storage location pool.

[0101] Specifically, judging whether there is a target storage location that matches the current storage location in the current storage location pool includes: determining the source of the current storage location; judging whether there is a first storage location that matches the current storage location among the storage locations in the current storage location pool whose sources are the same as the current storage location; if there is a first storage location that matches the current storage location among the storage locations in the current storage location pool whose sources are the same as the current storage location, determining the first storage location as the target storage location that matches the current storage location; if there is no first storage location that matches the current storage location among the storage locations in the current storage location pool whose sources are the same as the current storage location, judging whether there is a second storage location that matches the current storage location among the storage locations in the current storage location pool whose sources are different from the current storage location; if there is a second storage location that matches the current storage location among the storage locations in the current storage location pool whose sources are different from the current storage location, determining the second storage location as the target storage location that matches the current storage location; if there is no second storage location that matches the current storage location among the storage locations in the current historical storage location pool whose sources are different from the current storage location, determining that there is no target storage location that matches the current storage location in the current storage location pool. It should be noted that the storage locations that have different sources from the current storage location do not include fusion storage locations.

[0102] There are three sources of storage locations: visual storage locations, ultrasonic storage locations, or fusion storage locations; among them, visual storage locations can be considered as pure visual storage locations, and ultrasonic storage locations can be considered as pure ultrasonic storage locations.

[0103] If the source of the current storage location is a visual inspection device, the current storage location is a pure visual storage location, and the storage locations in the current storage location pool that have the same source as the current storage location are all pure visual storage locations in the current storage location pool, and the storage locations in the current storage location pool that have different sources from the current storage location are all pure ultrasonic storage locations in the current storage location pool; if the source of the current storage location is an ultrasonic inspection device, the current storage location is a pure ultrasonic storage location, and the storage locations in the current storage location pool that have the same source as the current storage location are all pure ultrasonic storage locations in the current storage location pool, and the storage locations in the current storage location pool that have different sources from the current storage location are all pure visual storage locations in the current storage location pool.

[0104] For example, if the current storage location is a visual storage location, the ID of the current storage location can be obtained, and it can be determined whether there is a visual storage location with the same ID as the current storage location in the current storage location pool. If so, the visual storage location with the same ID as the current storage location in the current storage location pool is determined as the target storage location, and the storage location information of the target storage location in the current storage location pool is updated using the storage location information of the current storage location (for example, the storage location information of the target storage location in the current storage location pool is updated to the storage location information of the current storage location), and a fused storage location matching the current storage location is obtained from the current storage location pool (the visual storage location ID indicated by the visual storage location information carried by the fused storage location matching the current storage location is the same as the ID of the current storage location), and the visual storage location information of the fused storage location matching the current storage location in the current storage location pool is updated to the storage location information of the current storage location.

[0105] Furthermore, if there is no visual storage location with the same ID as the current storage location in the current storage location pool, it is determined whether there is an ultrasonic storage location matching the current storage location in the current storage location pool. If there is an ultrasonic storage location matching the current storage location in the current storage location pool (the overlapping area between the line connecting the two corner points of the ultrasonic storage location matching the current storage location and the line connecting the first two corner points of the current storage location exceeds the preset threshold), the ultrasonic storage location matching the current storage location in the current storage location pool is determined as the target storage location, the storage location information of the current storage location is added to the target storage location and the target storage location is changed to a fusion storage location; if there is no ultrasonic storage location matching the current storage location in the current storage location pool, a new current storage location is created in the current storage location pool, and the current storage location is a visual storage location.

[0106] For example, if the current storage location is an ultrasonic storage location, it can be determined whether there is an ultrasonic storage location matching the current storage location in the current storage location pool (the overlapping area of ​​the line between the two corner points of the ultrasonic storage location matching the current storage location in the current storage location pool and the line between the two corner points of the current storage location exceeds a preset threshold). If so, the ultrasonic storage location matching the current storage location in the current storage location pool is determined as the target storage location, and the storage location information of the target storage location in the current storage location pool is updated using the storage location information of the current storage location (for example, the storage location information of the target storage location in the current storage location pool is updated to the storage location information of the current storage location), and a fused storage location matching the current storage location is obtained from the current storage location pool (the overlapping area of ​​the line between the two corner points of the ultrasonic storage location indicated by the ultrasonic storage location information carried by the fused storage location matching the current storage location and the line between the two corner points of the current storage location exceeds a preset threshold), and the ultrasonic storage location information of the fused storage location matching the current storage location in the current storage location pool is updated to the storage location information of the current storage location.

[0107] Furthermore, if there is no ultrasonic storage location matching the current storage location in the current storage location pool, it is determined whether there is a visual storage location matching the current storage location in the current storage location pool. If there is a visual storage location matching the current storage location in the current storage location pool (the overlapping area between the line between the first two corner points of the visual storage location matching the current storage location and the line between the two corner points of the current storage location exceeds the preset threshold), the visual storage location matching the current storage location in the current storage location pool is determined as the target storage location, the storage location information of the current storage location is added to the target storage location and the target storage location is changed to a fusion storage location; if there is no visual storage location matching the current storage location in the current storage location pool, a new current storage location is created in the current storage location pool, and the current storage location is a visual ultrasonic storage location.

[0108] In order to facilitate the understanding of the location matching provided in the application embodiment, a schematic diagram of calculating the degree of overlap of two ultrasonic corner point detection results is provided. For details, please refer to Figure 11 .

[0109] In this embodiment of the application, please refer to the above description of the method for using the current storage location to manage the storage location pool to obtain the target storage location pool. Figure 5-6 The detailed description is omitted here.

[0110] S1003: Determine a parking space in the target parking pool based on the current vehicle position. The parking space is unoccupied and there is a parking path between the current vehicle position and the parking space.

[0111] In an embodiment of the present application, each storage location in the target storage location pool can be used as the third storage location in turn, and the following process can be performed for each third storage location: determine the source of the third storage location; if the source of the third storage location is related to the visual sensor, determine whether the third storage location is occupied; if the third storage location is not occupied, determine the position of the extreme obstacle point related to the third storage location, and determine whether there is a parking path between the third storage location and the position of the current vehicle based on the position of the extreme obstacle point; if there is a parking path between the third storage location and the position of the current vehicle, determine that the third storage location is a parking space; if there is no parking path between the third storage location and the position of the current vehicle, determine that the third storage location is not a parking space.

[0112] Furthermore, if the source of the third storage location is related to the ultrasonic sensor, it is determined that the third storage location is unoccupied, and whether there is a parking path between the third storage location and the position of the current vehicle is determined; if there is a parking path between the third storage location and the position of the current vehicle, it is determined that the third storage location is a parking space; if there is no parking path between the third storage location and the position of the current vehicle, it is determined that the third storage location is not a parking space.

[0113] For example, if the source of the third storage location is related to the visual sensor, it means that the third storage location is a pure visual storage location; if the source of the third storage location is related to the ultrasonic sensor, it means that the third storage location is a pure ultrasonic storage location.

[0114] Furthermore, a storage location management method of an embodiment of the present application can also realize deletion management of storage locations in a storage location pool, as follows: determine whether the storage locations in the current storage location pool meet the deletion conditions; if the storage locations in the current storage location pool meet the deletion conditions, delete the storage locations from the current storage location pool.

[0115] For example, when the parking system is launched, all storage locations in the current storage pool are deleted; when the current storage pool is full, the storage location farthest from the current vehicle is deleted. Moreover, taking a storage location in the current storage pool as an example, the following deletion management can be performed on the storage location:

[0116] If the storage location is a pure vision storage location, the distance between the midpoint of the pure vision storage location and the midpoint of the rear axle of the current vehicle can be calculated to determine whether the distance exceeds the first threshold; if the distance exceeds the first threshold, the pure vision storage location can be deleted; if the distance does not exceed the first threshold, the mileage of the vehicle from the most recent historical update of the pure vision storage location to the present can be calculated to determine whether the mileage exceeds the second threshold. If the mileage exceeds the second threshold, the pure vision storage location can be deleted. If the mileage does not exceed the second threshold, the angle between the current vehicle heading and the direction of the pure vision storage location can be calculated to determine whether the angle exceeds the third threshold. If the angle exceeds the third threshold, the pure vision storage location will be deleted; if the angle does not exceed the third threshold, the pure vision storage location will not be deleted.

[0117] If the storage location is a pure ultrasonic storage location, the distance between the midpoint of the pure ultrasonic storage location and the midpoint of the rear axle of the current vehicle can be calculated to determine whether the distance exceeds the first threshold; if the distance exceeds the first threshold, the pure ultrasonic storage location can be deleted; if the distance does not exceed the first threshold, the mileage of the vehicle from the most recent historical update of the pure ultrasonic storage location to the present can be calculated to determine whether the mileage exceeds the second threshold. If the mileage exceeds the second threshold, the pure ultrasonic storage location can be deleted; if the mileage does not exceed the second threshold, the angle between the current vehicle heading and the direction of the pure ultrasonic storage location can be calculated to determine whether the angle exceeds the third threshold. If the angle exceeds the third threshold, the pure ultrasonic storage location will be deleted; if the angle does not exceed the third threshold, the pure ultrasonic storage location will not be deleted.

[0118] If the storage location is a fusion storage location, the storage location information of the fusion storage location includes visual storage location information and ultrasonic storage location information. The visual storage location information indicates a pure visual storage location, and the ultrasonic storage location information indicates a pure ultrasonic storage location. For the pure visual storage location indicated by the fusion storage location, the following process is performed: calculate the distance between the midpoint of the pure visual storage location and the midpoint of the rear axle of the current vehicle, and determine whether the distance exceeds a first threshold. If the distance exceeds the first threshold, the visual storage location information in the fusion storage location can be deleted. If the distance does not exceed the first threshold, the mileage of the vehicle at the pure visual storage location from the most recent historical update to the present can be calculated to determine whether the mileage exceeds a second threshold. If the mileage exceeds the second threshold, the visual storage location information in the fusion storage location can be deleted. If the mileage does not exceed the second threshold, the angle between the current vehicle heading and the direction of the pure visual storage location can be calculated to determine whether the angle exceeds a third threshold. If the angle exceeds the third threshold, the visual storage location information in the fusion storage location is deleted. If the angle does not exceed the third threshold, the visual storage location information in the fusion storage location is not deleted.

[0119] In addition, the following process is performed for the pure ultrasonic storage location indicated by the fusion storage location: the distance between the midpoint of the pure ultrasonic storage location and the midpoint of the rear axle of the current vehicle can be calculated to determine whether the distance exceeds a first threshold; if the distance exceeds the first threshold, the ultrasonic storage location information in the fusion storage location can be deleted; if the distance does not exceed the first threshold, the mileage of the vehicle at the pure ultrasonic storage location since the most recent historical update can be calculated to determine whether the mileage exceeds a second threshold; if the mileage exceeds the second threshold, the ultrasonic storage location information in the fusion storage location can be deleted; if the mileage does not exceed the second threshold, the angle between the current vehicle heading and the direction of the pure ultrasonic storage location can be calculated to determine whether the angle exceeds a third threshold; if the angle exceeds the third threshold, the ultrasonic storage location information in the fusion storage location is deleted; if the angle does not exceed the third threshold, the ultrasonic storage location information in the fusion storage location is not deleted.

[0120] Furthermore, the storage location management method provided in the embodiment of the present application can also realize the sorting of storage locations in the storage location pool. Figure 12 As shown, the midpoint coordinates of the storage locations in the target storage location pool can be projected onto the current vehicle's direction of travel, and the storage locations in the target storage location pool can be sorted in the order of the points in the direction of travel to obtain a spatial order storage location pool.

[0121] Figure 13 A schematic structural diagram of a storage location management device provided in an embodiment of the present application.

[0122] like Figure 13 As shown, the device includes:

[0123] A storage location determination unit 1301 is configured to determine a storage location detected by a sensor on the current vehicle, wherein the sensor includes a visual sensor and an ultrasonic sensor;

[0124] A storage location management unit 1302 is configured to manage the current storage location pool using the current storage location to obtain a target storage location pool. The management includes creating a new storage location in the current storage location pool or updating a storage location in the current storage location pool using the current storage location.

[0125] The parking space determining unit 1303 is configured to determine a parking space in the target parking space pool according to the current position of the vehicle, wherein the parking space is unoccupied and a parking path exists between the current position of the vehicle and the parking space.

[0126] In the embodiment of the present application, preferably, the storage location management unit includes:

[0127] A target storage location judgment unit is used to judge whether there is a target storage location matching the current storage location in the current storage location pool, and the target storage location is a pure ultrasound storage location or a pure visual storage location;

[0128] A first updating unit is configured to update the target storage location in the current storage location pool with the current storage location if a target storage location matching the current storage location exists in the current storage location pool;

[0129] A second updating unit is configured to update a fused storage location matching the current storage location in the current storage location pool according to the current storage location;

[0130] The new storage location creation unit is used to create a new storage location in the current storage location pool if there is no target storage location matching the current storage location in the current storage location pool.

[0131] In the embodiment of the present application, preferably, the target location determination unit includes:

[0132] A source determination unit is used to determine the source of the current storage location;

[0133] A first judgment unit is used to judge whether there is a first storage location that matches the current storage location among the storage locations in the current storage location pool that have the same source as the current storage location;

[0134] a first determining unit configured to determine a first storage location as a target storage location matching the current storage location if there is a first storage location matching the current storage location among the storage locations in the current storage location pool that have the same source as the current storage location;

[0135] The second judgment unit is configured to judge whether there is a second storage location that matches the current storage location among the storage locations in the current storage location pool that have different sources from the current storage location, if the first storage location that matches the current storage location does not exist among the storage locations in the current storage location pool that have the same source as the current storage location;

[0136] a second determining unit configured to determine a second storage location as a target storage location matching the current storage location if there is a second storage location matching the current storage location among the storage locations in the current storage location pool whose sources are different from the current storage location;

[0137] The third determining unit is configured to determine that there is no target storage location matching the current storage location in the current storage location pool if there is no second storage location matching the current storage location among the storage locations in the current historical storage location pool whose sources are different from the current storage location.

[0138] In the embodiment of the present application, preferably, the parking space determination unit includes:

[0139] A third judgment unit is used to judge whether the third storage location in the target storage location pool is occupied;

[0140] a fourth determining unit, configured to determine, if the third storage location in the target storage location pool is not occupied, whether there is a parking path between the third storage location and the current position of the vehicle;

[0141] The fifth determining unit is configured to determine that the third storage location is a parking space if a parking path exists between the third storage location and the current position of the vehicle.

[0142] In the embodiment of the present application, preferably, the third judgment unit includes:

[0143] a source determination unit, configured to sequentially use each storage location in the target storage location pool as a third storage location and determine a source of the third storage location;

[0144] a judgment subunit, configured to determine whether the third storage location is occupied if the source of the third storage location is related to the visual sensor;

[0145] a sixth determining unit, configured to determine a position of a limit obstacle point associated with the third storage location if the third storage location is not occupied;

[0146] Correspondingly, the fourth determining unit is specifically configured to determine, based on the position of the extreme obstacle point, whether there is a parking path between the third storage location and the current position of the vehicle.

[0147] Furthermore, a storage location management device provided in an embodiment of the present application also includes a deletion management unit, which is used to: determine whether the storage location in the current storage location pool meets the deletion conditions; if the storage location in the current storage location pool meets the deletion conditions, delete the storage location from the current storage location pool.

[0148] Furthermore, a storage location management device provided in an embodiment of the present application also includes a sorting unit, which is used to: project the midpoint coordinates of the storage locations in the target storage location pool onto the current vehicle's direction of travel, and sort the various storage locations in the target storage location pool according to the order of the points in the vehicle's direction of travel to obtain a spatial sequence storage location pool.

[0149] like Figure 14 FIG. 1 is a structural diagram of an implementation of a computer device applicable to a storage location management method provided in an embodiment of the present application. The computer device includes:

[0150] Memory 1401, used for storing programs;

[0151] Processor 1402 is configured to execute a program, wherein the program is specifically configured to:

[0152] Determining a storage location detected by sensors on the current vehicle, wherein the sensors include a visual sensor and an ultrasonic sensor;

[0153] Managing the current storage location pool using the current storage location to obtain a target storage location pool, wherein the management includes creating a new storage location in the current storage location pool or updating a storage location in the current storage location pool using the current storage location;

[0154] A parking space in the target parking pool is determined according to the current position of the vehicle, wherein the parking space is not occupied and a parking path exists between the current position of the vehicle and the parking space.

[0155] The processor 1402 may be a central processing unit (CPU) or an application-specific integrated circuit (ASIC).

[0156] The control device may further include a communication interface 1403 and a communication bus 1404 , wherein the memory 1401 , the processor 1402 and the communication interface 1403 communicate with each other via the communication bus 1404 .

[0157] The embodiment of the present application also provides a readable storage medium on which a computer program is stored. The computer program is loaded and executed by a processor to implement the various steps of the above-mentioned storage location management method. The specific implementation process can refer to the description of the corresponding part of the above-mentioned embodiment, which will not be repeated in this embodiment.

[0158] The above is a detailed introduction to the storage location management method, device, computer equipment and storage medium provided by the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core ideas. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the contents of this specification should not be understood as limiting the present invention.

[0159] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Reference can be made to the common and similar parts between the various embodiments. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method description.

[0160] It should also be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that the process, method, article, or apparatus comprising a series of elements inherent to the elements, or also including elements inherent to these processes, methods, articles, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

[0161] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A storage location management method, characterized in that: include: Determining a storage location detected by sensors on the current vehicle, wherein the sensors include a visual sensor and an ultrasonic sensor; Managing the current storage location pool using the current storage location to obtain a target storage location pool, wherein the management includes creating a new storage location in the current storage location pool or updating a storage location in the current storage location pool using the current storage location; Determine a parking space in the target parking pool according to the current position of the vehicle, wherein the parking space is unoccupied and a parking path exists between the current position of the vehicle and the parking space; The method of managing the current storage location pool using the current storage location to obtain the target storage location pool includes: Determine the source of the currently stated location; Determine whether there is a first storage location that matches the current storage location among the storage locations in the current storage location pool that have the same source as the current storage location; If there is a first storage location matching the current storage location among the storage locations in the current storage location pool that have the same source as the current storage location, determine the first storage location as the target storage location matching the current storage location; If there is no first storage location matching the current storage location among the storage locations in the current storage location pool whose sources are the same as the current storage location, determine whether there is a second storage location matching the current storage location among the storage locations in the current storage location pool whose sources are different from the current storage location; If there is a second storage location matching the current storage location among the storage locations in the current storage location pool whose sources are different from the current storage location, the second storage location is determined as the target storage location matching the current storage location; If there is no second storage location matching the current storage location among the storage locations in the current historical storage location pool whose sources are different from the source of the current storage location, it is determined that there is no target storage location matching the current storage location in the current storage location pool; By utilizing the current storage location and combining the result of determining whether there is a target storage location matching the current storage location in the current storage location pool, the current storage location pool is managed to obtain a target storage location pool.

2. The method according to claim 1, characterized in that The method of utilizing the current storage location and determining whether there is a target storage location matching the current storage location in the current storage location pool to manage the current storage location pool to obtain a target storage location pool includes: If there is a target storage location matching the current storage location in the current storage location pool, the target storage location in the current storage location pool is updated using the current storage location; the target storage location is a pure ultrasound storage location or a pure visual storage location; Update the fusion storage location that matches the current storage location in the current storage location pool according to the current storage location; If there is no target location matching the current location in the current location pool, a new location will be created in the current location pool.

3. The method according to claim 2, characterized in that Determining a parking space in the target parking pool according to the current position of the vehicle includes: Determining whether the third storage location in the target storage location pool is occupied; If the third storage location in the target storage location pool is not occupied, determining whether there is a parking path between the third storage location and the current position of the vehicle; If there is a parking path between the third parking space and the current position of the vehicle, the third parking space is determined to be a parking space.

4. The method according to claim 3, characterized in that The determining whether the third storage location in the target storage location pool is occupied includes: Taking each storage location in the target storage location pool as a third storage location in turn, and determining the source of the third storage location; If the source of the third storage location is related to the visual sensor, determining whether the third storage location is occupied; If the third storage location is not occupied, determining a position of a limit obstacle point associated with the third storage location; The determining whether a parking path exists between the third storage location and the current position of the vehicle includes: determining whether a parking path exists between the third storage location and the current position of the vehicle based on the position of the extreme obstacle point.

5. The method according to claim 1, wherein Also includes: Determine whether the storage locations in the current storage location pool meet the deletion conditions; If the storage location in the current storage location pool meets the deletion condition, the storage location is deleted from the current storage location pool.

6. The method according to claim 5, characterized in that Also includes: The midpoint coordinates of the storage locations in the target storage location pool are projected onto the current vehicle's direction of travel, and the storage locations in the target storage location pool are sorted in order of the points in the vehicle's direction of travel to obtain a spatial sequence storage location pool.

7. A storage location management device, characterized in that: include: A storage location determination unit, configured to determine a storage location detected by a sensor on the current vehicle, wherein the sensor includes a visual sensor and an ultrasonic sensor; A storage location management unit is used to manage the current storage location pool using the current storage location to obtain a target storage location pool, wherein the management includes creating a new storage location in the current storage location pool or updating a storage location in the current storage location pool using the current storage location; a parking space determining unit, configured to determine a parking space in the target parking space pool according to the current position of the vehicle, wherein the parking space is unoccupied and a parking path exists between the current position of the vehicle and the parking space; The storage location management unit is specifically used for: Determine the source of the currently stated location; Determine whether there is a first storage location that matches the current storage location among the storage locations in the current storage location pool that have the same source as the current storage location; If there is a first storage location matching the current storage location among the storage locations in the current storage location pool that have the same source as the current storage location, determine the first storage location as the target storage location matching the current storage location; If there is no first storage location matching the current storage location among the storage locations in the current storage location pool whose sources are the same as the current storage location, determine whether there is a second storage location matching the current storage location among the storage locations in the current storage location pool whose sources are different from the current storage location; If there is a second storage location matching the current storage location among the storage locations in the current storage location pool whose sources are different from the current storage location, the second storage location is determined as the target storage location matching the current storage location; If there is no second storage location matching the current storage location among the storage locations in the current historical storage location pool whose sources are different from the source of the current storage location, it is determined that there is no target storage location matching the current storage location in the current storage location pool; By utilizing the current storage location and combining the result of determining whether there is a target storage location matching the current storage location in the current storage location pool, the current storage location pool is managed to obtain a target storage location pool.

8. A computer device, characterized in that: include: A processor and a memory, wherein the processor and the memory are connected via a communication bus; wherein the processor is configured to call and execute a program stored in the memory; The memory is used to store a program, and the program is used to implement the storage location management method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that A computer program is stored thereon, and the computer program is loaded and executed by a processor to implement each step of the storage location management method according to any one of claims 1 to 6.

Images