Parking method, device, equipment and storage medium

Abstract

The present invention discloses a parking method, device, equipment and storage medium. The method comprises: in the process of parking a vehicle into a parking space, if a reverse braking event is detected, a first obstacle distance set collected by at least one laser radar installed on the main driving door side of the vehicle and a second obstacle distance set collected by at least one laser radar installed on the passenger driving door side of the vehicle are obtained; when each first obstacle distance in the first obstacle distance set and each second obstacle distance in the second obstacle distance set are greater than a first preset distance, the first posture information is updated according to the first obstacle distance set, the second obstacle distance set and the first posture information of the target parking position; the vehicle is controlled to park according to the updated first posture information and the current second posture information of the vehicle. By updating the target parking position in real time and re-planning the parking, the parking performance and efficiency are improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent transportation technology, and in particular to a parking method, device, equipment and storage medium. Background Art

[0002] With economic development, there are more and more cars, but the parking space is limited, resulting in problems such as difficulty in parking or difficulty in parking. In traditional parking systems, there is a deviation in parking space recognition, which makes it impossible for vehicles to park in parking spaces with sufficient space or the parking position is incorrect after parking, which can easily cause vehicle scratches, and fail to reasonably use parking space, resulting in a waste of resources.

[0003] Currently, the parking system plans parking routes for vehicles in conjunction with maps. However, when the deviation between the target position and the actual position is too large in complex scenarios, the vehicle cannot smoothly reach the target position specified by the parking route. Moving the vehicle at will may cause the vehicle to get stuck, resulting in low parking performance and efficiency. Summary of the invention

[0004] The present invention provides a parking method, device, equipment and storage medium, which dynamically updates information of a target parking position during a vehicle parking process, replans a parking path according to the updated information, and improves the performance and efficiency of vehicle parking.

[0005] In a first aspect, an embodiment of the present invention provides a parking method, comprising:

[0006] When the vehicle is parked in a parking space, if a reverse braking event is detected, a first obstacle distance set collected by at least one laser radar installed on the main driving door side of the vehicle and a second obstacle distance set collected by at least one laser radar installed on the passenger driving door side of the vehicle are obtained;

[0007] When each first obstacle distance in the first obstacle distance set and each second obstacle distance in the second obstacle distance set are greater than a first preset distance, updating the first posture information according to the first obstacle distance set, the second obstacle distance set and the first posture information of the target parking position;

[0008] The vehicle is controlled to park according to the updated first posture information and the current second posture information of the vehicle.

[0009] In a second aspect, an embodiment of the present invention provides a parking device, including:

[0010] a distance set acquisition module, configured to acquire a first obstacle distance set collected by at least one laser radar installed on the driver's door side of the vehicle and a second obstacle distance set collected by at least one laser radar installed on the passenger's door side of the vehicle if a reverse braking event is detected during the process of the vehicle parking into the parking space;

[0011] A posture information updating module, configured to update the first posture information according to the first obstacle distance set, the second obstacle distance set and the first posture information of the target parking position, when each first obstacle distance in the first obstacle distance set and each second obstacle distance in the second obstacle distance set are greater than a first preset distance;

[0012] The parking module is used to control the vehicle to park according to the updated first posture information and the current second posture information of the vehicle.

[0013] In a third aspect, an embodiment of the present invention further provides an electronic device, the electronic device comprising:

[0014] at least one processor; and

[0015] a memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the parking method described in any embodiment of the present invention.

[0017] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the parking method described in any embodiment of the present invention is implemented.

[0018] The technical solution of the embodiment of the present invention is that during the process of parking a vehicle into a parking space, if a reverse brake stop event is detected, a first obstacle distance set collected by at least one laser radar installed on the main driving door side of the vehicle and a second obstacle distance set collected by at least one laser radar installed on the passenger driving door side of the vehicle are obtained; when each first obstacle distance in the first obstacle distance set and each second obstacle distance in the second obstacle distance set are greater than the first preset distance, the first posture information is updated according to the first obstacle distance set, the second obstacle distance set and the first posture information of the target parking position; the vehicle is controlled to park according to the updated first posture information and the current second posture information of the vehicle. The posture information of the target parking position is updated in real time according to the collected distance data, and the vehicle parking is replanned according to the updated information, which solves the problem of difficulty in parking when the deviation between the target position and the actual position is too large, avoids vehicle scratches and jams, and improves parking performance and efficiency.

[0019] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 is a flow chart of a parking method provided according to Embodiment 1 of the present invention;

[0022] Figure 2 is a flow chart of a parking method provided according to Embodiment 2 of the present invention;

[0023] Figure 3 is a flowchart of a parking method provided according to Embodiment 3 of the present invention;

[0024] Figure 4 is a schematic structural diagram of a parking device provided according to a fourth embodiment of the present invention;

[0025] Figure 5 It is a schematic diagram of the structure of an electronic device provided according to Embodiment 5 of the present invention. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. 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 creative work should fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0028] Embodiment 1

[0029] Figure 1 is a flow chart of a parking method provided according to the first embodiment of the present invention. This embodiment is applicable to the case of vehicle parking. The method can be executed by the parking device in the embodiment of the present invention. The parking device can be implemented in the form of hardware and / or software. Further, the parking device can be configured in an electronic device, such as a vehicle controller. Figure 1 As shown, the method specifically comprises the following steps:

[0030] S110. When a reverse braking event is detected while the vehicle is parking into a parking space, a first obstacle distance set collected by at least one laser radar installed on a driver's door side of the vehicle and a second obstacle distance set collected by at least one laser radar installed on a passenger door side of the vehicle are obtained.

[0031] The reverse brake stop event may be an event in which the driver stops the vehicle by braking while the vehicle is reversing. The laser radars in this embodiment are installed on both sides of the vehicle door, namely, the main driver's door side and the passenger driver's door side of the vehicle, and the number of laser radars installed on the same side may be one or more.

[0032] The first obstacle distance set may be a set of distances between the vehicle and obstacles on the main driving door side of the vehicle collected by each laser radar installed on the main driving door side of the vehicle. The second obstacle distance set may be a set of distances between the vehicle and obstacles on the front passenger door side of the vehicle collected by each laser radar installed on the front passenger door side of the vehicle.

[0033] Specifically, when the driver wants to park, he needs to find an empty parking space and control the vehicle to drive at a low speed, click to enter the parking interface, and can select any parking space from the available parking spaces displayed on the parking interface, and then click the start parking button to start parking the vehicle.

[0034] If the vehicle brakes while reversing, the vehicle controller can detect the reversing brake event. At this time, the laser radars on both sides of the door are controlled to collect the distances of obstacles around the vehicle, and the first obstacle distance set collected on the main driver's door side and the second obstacle distance set collected on the passenger driver's door side can be obtained.

[0035] S120: When each first obstacle distance in the first obstacle distance set and each second obstacle distance in the second obstacle distance set are greater than the first preset distance, update the first pose information according to the first obstacle distance set, the second obstacle distance set and the first pose information of the target parking position.

[0036] The first preset distance may be a preset safety distance between the vehicle and surrounding obstacles. The target parking position may be the final parking position of the vehicle planned before parking. The first posture information may be the posture information presented after the vehicle is parked in the pre-planned target parking position, which may include the position information and heading angle of the vehicle.

[0037] Optionally, when any distance data in the first obstacle distance set and the second obstacle distance set is greater than the first preset distance, there are many ways to update the first pose information based on the first obstacle distance set, the second obstacle distance set and the first pose information of the target parking position, which is not limited in this embodiment.

[0038] One possible implementation method is to input the first obstacle distance in the first obstacle distance set, the second obstacle distance in the second obstacle distance set, and the first position information of the preset target parking position into a pre-trained model to obtain updated first position information.

[0039] Another possible implementation method is to obtain updated first position pose information based on a specific formula statistical analysis according to the first obstacle distance set, the second obstacle distance set and the first position pose information of the target parking position.

[0040] Furthermore, when any of the first obstacle distances in the first obstacle distance set or the second obstacle distances in the second obstacle distance set is less than the first preset distance, it indicates that the vehicle is likely to avoid a side collision, and parking can be terminated at this time, and the user is warned of the possibility of a side collision. For example, if one of the laser radars installed on the main driving door side of the vehicle detects a first obstacle distance less than the first preset distance, the user is reminded to avoid a side collision on the main driving door side at the current position, and parking is terminated.

[0041] S130: Control the vehicle to park according to the updated first posture information and the current second posture information of the vehicle.

[0042] The second position information may be the position and attitude information of the vehicle's current state, and may specifically include the vehicle's current position information and heading angle.

[0043] Specifically, a vehicle parking route is constructed according to the updated posture information of the target parking position and the posture information of the current position of the vehicle, and the vehicle parking is controlled based on the parking route.

[0044] The technical solution of this embodiment is that when a vehicle is parking into a parking space, if a reverse brake stop event is detected, a first obstacle distance set collected by at least one laser radar installed on the main driving door side of the vehicle and a second obstacle distance set collected by at least one laser radar installed on the passenger driving door side of the vehicle are obtained; when each first obstacle distance in the first obstacle distance set and each second obstacle distance in the second obstacle distance set are greater than the first preset distance, the first position information is updated according to the first obstacle distance set, the second obstacle distance set and the first position information of the target parking position; the vehicle is controlled to park according to the updated first position information and the current second position information of the vehicle. The above scheme updates the position information of the target parking position in real time according to the collected distance data, replans the vehicle parking according to the updated information, improves the vehicle parking performance and efficiency, and effectively prevents the vehicle from being scratched or stuck when parking.

[0045] Optionally, based on the above embodiment, the first pose information is updated according to the first obstacle distance set, the second obstacle distance set and the first pose information of the target parking position, including: adding the first obstacle distances in the first obstacle distance set to obtain the first distance; adding the second obstacle distances in the second obstacle distance set to obtain the second distance; updating the first pose information according to the first distance, the second distance and the first pose information of the target parking position.

[0046] Specifically, the first obstacle distances in the first obstacle distance set can be added together to obtain the first distance; and the second obstacle distances in the second obstacle distance set can be added together to obtain the second distance, and then the first distance, the second distance and the first position information of the target parking position are input into the pre-trained model to obtain the updated first position information. This embodiment updates the first position information based on all the data in the distance set, which facilitates the accurate calculation of the updated position information to improve parking performance and accuracy.

[0047] Embodiment 2

[0048] Figure 2is a flowchart of a parking method provided according to the second embodiment of the present invention. Based on the above embodiment, this embodiment further explains in detail "updating the first posture information according to the first obstacle distance set, the second obstacle distance set and the first posture information of the target parking position". Figure 2 As shown, the method includes:

[0049] S210. When a reverse braking event is detected while the vehicle is parking into a parking space, a first obstacle distance set collected by at least one laser radar installed on a driver's door side of the vehicle and a second obstacle distance set collected by at least one laser radar installed on a passenger door side of the vehicle are obtained.

[0050] S220: When each first obstacle distance in the first obstacle distance set and each second obstacle distance in the second obstacle distance set are greater than the first preset distance, add the first obstacle distances in the first obstacle distance set to obtain a first distance.

[0051] S230: Add the second obstacle distances in the second obstacle distance set to obtain a second distance.

[0052] S240: construct a rotation matrix according to the heading angle in the first position pose information of the target parking position.

[0053] Optionally, the heading angle may be the angle between the vehicle body and the horizontal line when the vehicle is in the target parking position, which is used to characterize the actual orientation of the vehicle. In order to ensure that the heading angle in the first pose information does not change before and after the first pose information is updated, the present embodiment introduces a rotation matrix. The rotation matrix may be constructed based on the heading angle of the first pose information.

[0054] Specifically, the rotation matrix can be [cos(Yaw), -sin(Yaw); sin(Yaw), cos(Yaw)], where Yaw is the heading angle in the first pose information.

[0055] S250: Determine a heading vector according to the first distance, the second distance, and the rotation matrix.

[0056] Optionally, the heading vector may be a vector having the same direction as the heading angle in the first pose information as determined by a set formula in combination with the rotation matrix, the first distance, and the second distance, specifically a vector used to indicate the translation length.

[0057] Optionally, there are many ways to determine the heading vector based on the first distance, the second distance and the rotation matrix, which is not limited in this embodiment.

[0058] One possible implementation method is to determine a distance difference based on the first distance and the second distance; determine a target distance based on the distance difference and the second preset distance; and determine a heading vector based on the target distance and a rotation matrix.

[0059] The distance difference may be a difference obtained by subtracting the first distance from the second distance, and the distance difference may be positive or negative. To prevent the vehicle from moving too far from the target position due to an excessively large distance difference, thereby increasing the possibility of a collision, the second preset distance is introduced in this embodiment, wherein the second preset distance may be a preset maximum distance at which a collision may occur between the vehicle and the obstacle.

[0060] Specifically, the target distance can be determined according to the following formula 1 and formula 2:

[0061] tmp=LeftDis-RightDis Formula 1

[0062] dis=min(|tmp|;MaxDis)*sign(tmp) Formula 2

[0063] Among them, LeftDis is the first distance, RightDis is the second distance, tmp is the distance difference between the two; MaxDis is the second preset distance, and dis is the target distance.

[0064] By comparing the absolute value of the distance difference with the second preset distance, when the absolute value of the distance difference is greater than the second preset distance, the second preset distance is selected as the target distance; when the absolute value of the distance difference is less than the second preset distance, the absolute value of the distance difference is selected as the target distance; further, sign(tmp) is introduced in this embodiment so that the sign of the target distance finally obtained is the same as the sign of the distance difference.

[0065] Afterwards, the heading vector is determined based on the following formula 3:

[0066] X=[cos(Yaw),-sin(Yaw);sin(Yaw),cos(Yaw)]*[dis;0] Formula 3

[0067] Among them, X is the heading vector.

[0068] Another possible implementation is to input the first distance, the second distance and the rotation matrix into a model, and determine the heading vector based on the model.

[0069] S260. Update the position information in the first pose information according to the heading vector and the position information in the first pose information.

[0070] It should be noted that, in this embodiment, the heading angle in the first posture information after updating is the same as the heading angle in the first posture information before updating.

[0071] Optionally, according to a set formula, the position information in the updated first pose information is calculated based on the heading vector and the position information in the first pose information.

[0072] For example, the position information in the updated first pose information can be determined according to the following formula 4:

[0073] Y=[TgtX; TgtY]+[cos(pi / 2),-sin(pi / 2); sin(pi / 2),cos(pi / 2)]*X Formula 4

[0074] Among them, TgtX is the horizontal coordinate of the position information in the first pose information before updating, TgtY is the vertical coordinate of the position information in the first pose information before updating, pi is the pi, and Y is the position information in the first pose information after updating, that is, the horizontal and vertical coordinates of the updated target parking position.

[0075] Specifically, the horizontal and vertical coordinates of the target parking position to be transformed can be solved by the method of coordinate transformation. The specific method is to first determine a vector with the same heading angle direction as the original target parking position according to the target distance, that is, the heading vector; then transform it into a vector with the same heading angle direction as the original target parking position and then transform it into a vector perpendicular to the heading angle direction, and finally add it to the horizontal and vertical coordinates of the original target parking position that has not been transformed, so as to obtain the horizontal and vertical coordinates of the new target parking position, that is, the position information in the updated first pose information.

[0076] S270: Control the vehicle to park according to the updated first posture information and the current second posture information of the vehicle.

[0077] The technical solution of this embodiment can accurately calculate the new target parking position by combining the real-time obstacle distance and the target parking position information when each first obstacle distance in the first obstacle distance set and each second obstacle distance in the second obstacle distance set are greater than the first preset distance. The above solution provides a preferred method for relocating the target parking position according to the real-time situation, and provides data support for accurately parking the vehicle and improving the parking efficiency of the vehicle.

[0078] Based on any of the above embodiments, the vehicle is controlled to park according to the updated first posture information and the vehicle's current second posture information, including: planning a parking route according to the updated first posture information and the vehicle's current second posture information; and controlling the vehicle to park according to the parking route.

[0079] Specifically, a new parking route can be generated based on the updated first posture information and the current second posture information of the vehicle, and the vehicle can be parked in the relocated target parking position according to the parking route. This solution fully considers the current information of the vehicle and the updated target information, greatly improving the reliability of parking path planning and improving parking efficiency.

[0080] Embodiment 3

[0081] Figure 3 is a flow chart of a parking method provided according to Embodiment 3 of the present invention. Based on the above embodiments, this embodiment further explains in detail "controlling the vehicle to park according to the updated first posture information and the current second posture information of the vehicle". Figure 3 As shown, the parking method of this embodiment may include:

[0082] S310. When a vehicle is parked in a parking space, if a reverse braking event is detected, a first obstacle distance set collected by at least one laser radar installed on the driver's door side of the vehicle and a second obstacle distance set collected by at least one laser radar installed on the passenger door side of the vehicle are obtained.

[0083] S320: When each first obstacle distance in the first obstacle distance set and each second obstacle distance in the second obstacle distance set are greater than the first preset distance, update the first pose information according to the first obstacle distance set, the second obstacle distance set and the first pose information of the target parking position.

[0084] S330: construct a first straight line according to the updated first pose information.

[0085] Specifically, the tangent value of the heading angle in the updated first pose information can be used as the slope k1, and the slope k1 and the position information in the updated first pose information (ie, the horizontal and vertical coordinates x1 and y1) are substituted into the expression of the straight line equation to construct the first straight line.

[0086] For example, the expression of the straight line equation is: y=kx+b. Substituting the slope k1, the horizontal and vertical coordinates x1 and y1 into the expression of the straight line equation, it can be determined that the intercept b is c1. At this time, the first straight line is y=k1x+c1.

[0087] S340: construct a second straight line according to the current second position information of the vehicle.

[0088] Specifically, the tangent value of the heading angle in the vehicle's current second posture information can be used as the slope k2, and the slope k2 and the position information in the second posture information (ie, the horizontal and vertical coordinates x2 and y2) can be substituted into the expression of the straight line equation to construct the second straight line.

[0089] For example, the expression of the equation of a straight line is: y=kx+b. Substituting the slope k2, the horizontal and vertical coordinates x2 and y2 into the expression of the equation of the straight line, it can be determined that the intercept b is c2. At this time, the first straight line is y=k2x+c2.

[0090] S350: Determine the position information of the intersection of the first straight line and the second straight line.

[0091] Specifically, the coordinates of the intersection of the two straight lines can be calculated according to the analytical expression of the first straight line and the analytical expression of the second straight line. For example, the intersection is CP, and the coordinates of the intersection are (x0, y0).

[0092] S360. Determine the position information of the first end point, the position information of the second end point, and the position information of the center point according to the position information of the intersection, the heading angle in the updated first posture information, and the heading angle in the second posture information.

[0093] Among them, the position information of the first end point can be the position information of the end point ahead of the current position of the vehicle; the position information of the second end point can be the position information in the updated first pose information. Considering the errors existing in the actual scene, there is a certain distance between the position information of the second end point and the position information in the updated first pose information, and the distance is usually small; the position information of the center point is the center of the arc corresponding to the first end point and the second end point. The position information of the first end point and the position information of the second end point can be calculated based on the rotation and translation of the intersection position.

[0094] Specifically, the intersection position information, the heading angle in the updated first posture information, and the heading angle in the second posture information can be input into the model or into the set formula to obtain the position information of the first end point, the position information of the second end point and the position information of the center point.

[0095] Optionally, the position information of the first end point, the position information of the second end point and the position information of the center point can be determined based on the position information of the intersection, the heading angle in the updated first posture information, and the heading angle in the second posture information. The first rotation radius and the second rotation radius can be determined based on the angle between the first straight line and the second straight line, and the minimum turning radius of the vehicle; the position information of the first end point can be determined based on the first rotation radius, the position information of the intersection, and the heading angle in the second posture information; the position information of the second end point can be determined based on the first rotation radius, the position information of the intersection, the heading angle in the second posture information, and the heading angle in the updated first posture information; the position information of the center point can be determined based on the angle between the first straight line and the second straight line, the second rotation radius, the position information of the intersection, and the heading angle in the second posture information.

[0096] Among them, the angle between the first straight line and the second straight line can be calculated based on the slope of the first straight line and the slope of the second straight line, such as, angle = (pi-|atan(k1)-atan(k2)|); wherein angle is the angle between the two straight lines, and pi is the pi.

[0097] The minimum turning radius of a vehicle can be the radius of the circle rolled by the center of the outer steering wheel on the supporting plane when the steering wheel is turned to the extreme position and the vehicle is turning at the lowest stable speed. The minimum turning radius of a vehicle can be used to characterize the vehicle's ability to pass through narrow curved areas or bypass insurmountable obstacles.

[0098] Optionally, the first rotation radius and the second rotation radius can be calculated according to a set formula, such as R = VehMinR / tan(angle / 2), R1 = VehMinR / sin(angle / 2); wherein R is the first rotation radius, R1 is the second rotation radius, and VehMinR is the minimum turning radius of the vehicle. It can be understood that in a right triangle, the two right-angled sides are R and the minimum turning radius VehMinR, and VehMinR is the right-angled side opposite to the angle angle.

[0099] Optionally, the position information of the first end point and the position information of the second end point can be determined based on a formula. Specifically, PntA = [cos(yaw1), -sin(yaw1); sin(yaw1), cos(yaw1)]*[R; 0] + [x0; y0]; PntD = [cos(yaw), sin(yaw1); -sin(yaw1), cos(yaw1)]*[R; 0] + [x0; y0]; where PntA is the position information of the first end point, PntD is the position information of the second end point, yaw is the heading angle in the updated first pose information, yaw1 is the heading angle in the current second pose information, R is the first rotation radius, and [x0; y0] is the coordinate position of the intersection. It can be understood that PntA is obtained by rotating yaw1 angle counterclockwise from the positive direction of the X axis in the constructed coordinate system with the intersection point CP as the center and R as the radius. Similarly, PntD is obtained by rotating the yaw angle clockwise from the positive direction of the X-axis with the intersection point CP as the center and R as the radius.

[0100] Optionally, the position information of the center point can be determined by a preset model or a set formula, such as based on PntO1=[cos(angle / 2-yaw1), sin(angle / 2-yaw1);-sin(angle / 2-yaw1), cos(angle / 2-yaw1)]*[R1;0]+[x0;y0], where PntO1 is the position information of the center point.

[0101] S370: Plan a parking route according to the location information of the first end point, the location information of the second end point, and the location information of the center point.

[0102] Optionally, an arc connecting the first end point and the second end point is constructed with the center point as the center of the circle, that is, the parking route.

[0103] S380: Control the vehicle to park according to the parking route.

[0104] Optionally, the present embodiment also includes a collision detection mechanism, which obtains information of each point in the route by calculating and dividing the parking route, calculates the position information of the left rear corner of the vehicle when the vehicle is located at the point based on the information of each point, and determines whether it exceeds the analytical expression of the limit wall. If so, the planning is abandoned.

[0105] Specifically, when planning the vehicle parking path, combined with the current second posture information of the vehicle, according to the direction of the target parking position, the limit wall is set up. The specific implementation method can be to calculate the position of each point of the entire vehicle based on the current position, and at the same time calculate the analytical expression y=kx+c of the parking space centerline. Taking the left rear corner point as an example, the coordinates of the left rear corner point of the vehicle are (a, b), then the analytical expression of the limit wall is y=b-ka+kx, and then it is necessary to judge whether there is a collision based on the positive or negative value of the y value of the analytical expression.

[0106] The technical solution provided by the embodiment of the present disclosure replans the parking route based on the updated first posture information and the current second posture information of the vehicle, introduces the information of the intersection of two straight lines, and can accurately locate the position information of the first end point, the second end point and the center point, thereby ensuring the accuracy of parking route planning and increasing the flexibility of the entire solution. In addition, the turning radius is calculated based on the minimum turning radius, which can give full play to the maneuverability of the vehicle and ensure smooth parking of the vehicle.

[0107] Embodiment 4

[0108] Figure 4 is a schematic diagram of the structure of a parking device provided according to the fourth embodiment of the present invention. This embodiment can be applied to vehicle parking. The device can be implemented in software and / or hardware. The device can be integrated in any device that provides parking functions, such as a vehicle controller. Figure 4 As shown, the parking device may specifically include:

[0109] The distance set acquisition module 410 is used to acquire a first obstacle distance set collected by at least one laser radar installed on the driver's door side of the vehicle and a second obstacle distance set collected by at least one laser radar installed on the passenger's door side of the vehicle if a reverse braking event is detected during the process of the vehicle parking into the parking space;

[0110] A posture information updating module 420 is used to update the first posture information according to the first obstacle distance set, the second obstacle distance set and the first posture information of the target parking position when each first obstacle distance in the first obstacle distance set and each second obstacle distance in the second obstacle distance set are greater than the first preset distance;

[0111] The parking module 430 is used to control the vehicle to park according to the updated first posture information and the current second posture information of the vehicle.

[0112] The technical solution of this embodiment is that when a vehicle is parking into a parking space, if a reverse brake stop event is detected, a first obstacle distance set collected by at least one laser radar installed on the main driving door side of the vehicle and a second obstacle distance set collected by at least one laser radar installed on the passenger driving door side of the vehicle are obtained; when each first obstacle distance in the first obstacle distance set and each second obstacle distance in the second obstacle distance set are greater than the first preset distance, the first position information is updated according to the first obstacle distance set, the second obstacle distance set and the first position information of the target parking position; the vehicle is controlled to park according to the updated first position information and the current second position information of the vehicle. The above scheme updates the position information of the target parking position in real time according to the collected distance data, replans the vehicle parking according to the updated information, improves the vehicle parking performance and efficiency, and effectively prevents the vehicle from being scratched or stuck when parking.

[0113] Optionally, the posture information updating module 420 includes:

[0114] A first distance acquisition unit, configured to add the first obstacle distances in the first obstacle distance set to obtain a first distance;

[0115] A second distance acquisition unit, configured to add the second obstacle distances in the second obstacle distance set to obtain a second distance;

[0116] The first position updating unit is used to update the first position information according to the first distance, the second distance and the first position information of the target parking position.

[0117] Optionally, the first pose updating unit further includes:

[0118] A rotation matrix construction subunit is used to construct a rotation matrix according to the heading angle in the first position posture information of the target parking position;

[0119] A heading vector determination subunit, used to determine a heading vector according to the first distance, the second distance and the rotation matrix;

[0120] The position information updating subunit is used to update the position information in the first pose information according to the heading vector and the position information in the first pose information.

[0121] Optionally, the heading vector determination subunit is specifically used for:

[0122] Determining a distance difference according to the first distance and the second distance;

[0123] Determine the target distance according to the distance difference and the second preset distance;

[0124] Determine the heading vector based on the target distance and the rotation matrix.

[0125] Optionally, the parking module 430 further includes:

[0126] A parking route planning unit, used to plan a parking route according to the updated first posture information and the current second posture information of the vehicle;

[0127] The parking unit is used to control the vehicle and park according to the parking route.

[0128] Optionally, the parking route planning unit further includes:

[0129] A first straight line construction subunit, used to construct a first straight line according to the updated first pose information;

[0130] A second straight line construction subunit, used for constructing a second straight line according to the current second posture information of the vehicle;

[0131] An intersection determination subunit, used to determine the position information of the intersection of the first straight line and the second straight line;

[0132] A position information determination subunit, used to determine the position information of the first end point, the position information of the second end point and the position information of the center point according to the position information of the intersection point, the heading angle in the updated first posture information, and the heading angle in the second posture information;

[0133] The route planning subunit is used to plan a parking route according to the location information of the first terminal, the location information of the second terminal and the location information of the center point.

[0134] Optionally, the location information determination subunit is specifically used for:

[0135] Determine a first rotation radius and a second rotation radius according to an angle between the first straight line and the second straight line and a minimum turning radius of the vehicle;

[0136] Determine the position information of the first end point according to the first rotation radius, the position information of the intersection point, and the heading angle in the second posture information;

[0137] Determine the position information of the second end point according to the first rotation radius, the position information of the intersection, the heading angle in the second posture information, and the updated heading angle in the first posture information;

[0138] The position information of the center point is determined according to the angle between the first straight line and the second straight line, the second rotation radius, the position information of the intersection, and the heading angle in the second posture information.

[0139] The parking device provided in the embodiment of the present invention can execute the parking method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0140] Embodiment 5

[0141] Figure 5 A schematic diagram of an electronic device 50 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0142] like Figure 5 As shown, the electronic device 50 includes at least one processor 51, and a memory connected to the at least one processor 51 in communication, such as a read-only memory (ROM) 52, a random access memory (RAM) 53, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 51 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 52 or the computer program loaded from the storage unit 58 to the random access memory (RAM) 53. In the RAM 53, various programs and data required for the operation of the electronic device 50 can also be stored. The processor 51, the ROM 52, and the RAM 53 are connected to each other via a bus 54. An input / output (I / O) interface 55 is also connected to the bus 54.

[0143] A number of components in the electronic device 50 are connected to the I / O interface 55, including: an input unit 56, such as a keyboard, a mouse, etc.; an output unit 57, such as various types of displays, speakers, etc.; a storage unit 58, such as a disk, an optical disk, etc.; and a communication unit 59, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 59 allows the electronic device 50 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0144] The processor 51 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 51 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 51 executes the various methods and processes described above, such as implementing the parking method provided in the embodiment of the present invention.

[0145] Embodiment 6

[0146] Embodiment 6 of the present invention further provides a computer-readable storage medium on which a computer program (or computer-executable instructions) is stored. When the program is executed by a processor, it is used to execute the parking method provided in the embodiment of the present invention.

[0147] The computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, a device or a device or used in combination with it.

[0148] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0149] The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0150] The computer program code for performing the operation of the embodiments of the present invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on a remote computer, or completely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (e.g., using an Internet service provider to connect through the Internet).

[0151] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the embodiments of the present invention are described in more detail through the above embodiments, the embodiments of the present invention are not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A parking method, characterized in that: include: When the vehicle is parked in a parking space, if a reverse braking event is detected, a first obstacle distance set collected by at least one laser radar installed on the main driving door side of the vehicle and a second obstacle distance set collected by at least one laser radar installed on the passenger driving door side of the vehicle are obtained; When each first obstacle distance in the first obstacle distance set and each second obstacle distance in the second obstacle distance set are greater than a first preset distance, updating the first posture information according to the first obstacle distance set, the second obstacle distance set and the first posture information of the target parking position; The vehicle is controlled to park according to the updated first posture information and the current second posture information of the vehicle.

2. The method according to claim 1, characterized in that The updating of the first posture information according to the first obstacle distance set, the second obstacle distance set and the first posture information of the target parking position includes: Adding the first obstacle distances in the first obstacle distance set to obtain a first distance; Adding the second obstacle distances in the second obstacle distance set to obtain a second distance; The first posture information is updated according to the first distance, the second distance and the first posture information of the target parking position.

3. The method according to claim 2, characterized in that The updating of the first posture information according to the first distance, the second distance and the first posture information of the target parking position includes: Construct a rotation matrix according to the heading angle in the first pose information of the target parking position; Determine a heading vector according to the first distance, the second distance and the rotation matrix; The position information in the first posture information is updated according to the heading vector and the position information in the first posture information.

4. The method according to claim 3, characterized in that The determining of the heading vector according to the first distance, the second distance and the rotation matrix comprises: determining a distance difference according to the first distance and the second distance; Determine the target distance according to the distance difference and a second preset distance; A heading vector is determined according to the target distance and the rotation matrix.

5. The method according to claim 1, characterized in that The method of controlling the vehicle to park according to the updated first posture information and the current second posture information of the vehicle includes: Planning a parking route based on the updated first posture information and the current second posture information of the vehicle; The vehicle is controlled to park according to the parking route.

6. The method according to claim 5, characterized in that The method of planning a parking route according to the updated first posture information and the current second posture information of the vehicle includes: Construct the first straight line according to the updated first pose information; Constructing a second straight line according to the current second posture information of the vehicle; Determining position information of an intersection point between the first straight line and the second straight line; Determine the position information of the first end point, the position information of the second end point, and the position information of the center point according to the position information of the intersection, the heading angle in the updated first posture information, and the heading angle in the second posture information; A parking route is planned according to the location information of the first end point, the location information of the second end point and the location information of the center point.

7. The method according to claim 6, characterized in that The method of determining the position information of the first end point, the position information of the second end point, and the position information of the center point according to the position information of the intersection, the heading angle in the updated first posture information, and the heading angle in the second posture information comprises: Determine a first rotation radius and a second rotation radius according to an angle between the first straight line and the second straight line and a minimum turning radius of the vehicle; Determine the position information of the first end point according to the first rotation radius, the position information of the intersection, and the heading angle in the second posture information; Determine the position information of the second end point according to the first rotation radius, the position information of the intersection, the heading angle in the second posture information, and the heading angle in the updated first posture information; The position information of the center point is determined according to the angle between the first straight line and the second straight line, the second rotation radius, the position information of the intersection, and the heading angle in the second posture information.

8. A parking device, characterized in that: include: a distance set acquisition module, configured to acquire a first obstacle distance set collected by at least one laser radar installed on the driver's door side of the vehicle and a second obstacle distance set collected by at least one laser radar installed on the passenger's door side of the vehicle if a reverse braking event is detected during the process of the vehicle parking into the parking space; A posture information updating module, configured to update the first posture information according to the first obstacle distance set, the second obstacle distance set and the first posture information of the target parking position, when each first obstacle distance in the first obstacle distance set and each second obstacle distance in the second obstacle distance set are greater than a first preset distance; The parking module is used to control the vehicle to park according to the updated first posture information and the current second posture information of the vehicle.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the parking method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the parking method according to any one of claims 1 to 7 is implemented.

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