A method for location map construction for HPA and a vehicle parking method based on HPA.

Abstract

This invention discloses a positioning map construction method for HPA (Hyperparking Approach) and a vehicle parking method based on HPA. The method identifies parking spaces and vehicles parked in target parking areas, and constructs a positioning map based on the parking space and vehicle identification results. During HPA path playback, based on the positioning map, the method obtains the vehicle's first position information according to detected parking space or vehicle identifiers. The vehicle's self-positioning information is then corrected based on the first position information to obtain the vehicle's second position information. When preset mode switching conditions are met, the vehicle's current second position information is used as the mode switching point, controlling the vehicle to switch to parking mode and complete automatic parking. This invention improves positioning accuracy during vehicle parking by constructing a positioning map and using it to assist vehicle positioning, and also rationally arranges the vehicle's mode switching points.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and in particular to a positioning map construction method for HPA, a vehicle parking method based on HPA, a computer-readable storage medium, and a terminal device. Background Technology

[0002] HPA (Home-zone Parking Assist), also known as memory parking function, can learn and replay routes that the driver has already driven. Through system self-learning, it remembers specific parking spaces and driving trajectories in specific areas (such as home or company parking lots). It can then control the vehicle to automatically find the specific parking space and park automatically, thereby achieving point-to-point fully automated driving function.

[0003] like Figure 1 The diagram illustrates an application scenario of HPA (Hyper Parking Assist) function in a vehicle, provided by existing technology. During the HPA playback process, the vehicle needs to switch from cruise mode to parking mode. From the starting point to the mode switch point, the vehicle is in cruise mode, which involves higher speeds and requires a wider range of perception. From the mode switch point to the end point, the vehicle is in parking mode, where vehicle control perception can utilize APA (Auto Parking Assist). However, APA places high demands on the vehicle's stopping point (i.e., the end point), often requiring the vehicle to directly detect the target parking space. This indirectly requires the vehicle to scan the target parking space before the mode switch point, thus placing higher demands on the vehicle's positioning accuracy and the setting of the mode switch point. Summary of the Invention

[0004] The purpose of this invention is to provide a positioning map construction method for HPA, a vehicle parking method based on HPA, a computer-readable storage medium, and a terminal device. By constructing a positioning map and using the positioning map to assist in vehicle positioning, the positioning accuracy during vehicle parking can be improved, and the vehicle's mode switching points can be reasonably arranged.

[0005] To achieve the above objectives, a first aspect of the present invention provides a method for constructing a location map for HPA, comprising:

[0006] Identify parking spaces and vehicles parked in the target parking area to obtain parking space identification results and vehicle identification results;

[0007] A positioning map is constructed based on the parking space recognition result and the vehicle recognition result; wherein, the positioning map establishes the correspondence between the location information of the parking space, the parking space identifier and the vehicle identifier, and the location information is the location identifier corresponding to the position of the parking space relative to the positioning map.

[0008] Furthermore, the parking space recognition result includes the recognized parking space identifier, and the vehicle recognition result includes the recognized vehicle identifier;

[0009] Then, the step of constructing a positioning map based on the parking space recognition result and the vehicle recognition result specifically includes:

[0010] Based on the position of the parking space relative to the positioning map, the identified parking space identifiers are stored on the positioning map, and a location identifier is set for each parking space identifier on the positioning map.

[0011] Based on the correspondence between parking spaces and vehicles parked in those spaces, the identified vehicle identifiers are stored on the location map.

[0012] Furthermore, during each HPA path playback, the method also includes:

[0013] Determine whether there are any new parking spaces in the target parking area; if so, update the location map based on the new parking spaces.

[0014] Determine whether there are any new vehicles in the target parking area; if so, update the location map based on the new vehicles.

[0015] Determine whether the vehicles parked in the parking spaces of the vehicles already parked in the target parking area have changed. If so, update the positioning map according to the changed vehicles.

[0016] To achieve the above objectives, a second aspect of the present invention provides a vehicle parking method based on HPA, comprising:

[0017] The location map is obtained using the location map construction method for HPA described in any of the first aspects above;

[0018] During HPA path playback, based on the positioning map, the first location information of the vehicle is obtained according to the detected parking space or vehicle identification, and the self-positioning information of the vehicle is corrected according to the first location information of the vehicle to obtain the second location information of the vehicle.

[0019] When the preset mode switching conditions are met, the vehicle's current second location information is used as the mode switching point, and the vehicle is controlled to switch to parking mode.

[0020] Based on the parking mode, the vehicle is controlled to complete automatic parking.

[0021] Furthermore, the step of obtaining the vehicle's first location information based on the detected parking space markers or vehicle markers according to the positioning map specifically includes:

[0022] When any parking space sign or vehicle sign is detected, the detected parking space sign or vehicle sign is matched with the parking space sign or vehicle sign in the location map;

[0023] When a matching parking space or vehicle identifier exists in the location map, the location information of the corresponding parking space is determined based on the matching parking space or vehicle identifier.

[0024] The vehicle's initial location information is obtained based on the determined parking space location information.

[0025] Furthermore, obtaining the vehicle's first location information based on the determined parking space location information specifically includes:

[0026] Retrieve the location information of the parking space determined last time based on the detected parking space sign or vehicle sign;

[0027] The vehicle's first location information is obtained by comparing the previously determined parking space location information with the currently determined parking space location information.

[0028] Furthermore, the step of correcting the vehicle's self-positioning information based on the vehicle's first location information to obtain the vehicle's second location information specifically includes:

[0029] After obtaining the vehicle's initial location information, the vehicle's self-location information is obtained;

[0030] Compare the vehicle's self-location information with the vehicle's primary location information;

[0031] When the deviation between the vehicle's self-positioning information and the vehicle's first position information is greater than a preset deviation threshold, the vehicle's first position information is used as the vehicle's second position information.

[0032] When the deviation between the vehicle's self-positioning information and the vehicle's first position information is not greater than a preset deviation threshold, the vehicle's self-positioning information is used as the vehicle's second position information.

[0033] Furthermore, the mode switching conditions include detecting a parking space sign or vehicle sign within a preset range of the target parking space;

[0034] Then, when the preset mode switching conditions are met, the current second location information of the vehicle is used as the mode switching point, and the vehicle is controlled to switch to parking mode, specifically including:

[0035] When a parking space sign or vehicle sign is detected within a preset range of the target parking space, the vehicle's current first location information is obtained based on the detected parking space sign or vehicle sign.

[0036] The vehicle's current self-positioning information is corrected based on the vehicle's current first location information to obtain the vehicle's current second location information;

[0037] The location corresponding to the vehicle's current second location information is used as the mode switching point to control the vehicle to switch to parking mode.

[0038] Furthermore, the mode switching conditions also include that the distance between the vehicle and the target parking space meets a preset distance requirement;

[0039] Then, after obtaining the second location information of the vehicle, the method further includes:

[0040] The distance between the vehicle and the target parking space is calculated based on the vehicle's second location information;

[0041] Determine whether the distance between the vehicle and the target parking space meets the preset distance requirement;

[0042] Then, when the preset mode switching conditions are met, the current second location information of the vehicle is used as the mode switching point, and the vehicle is controlled to switch to parking mode, specifically including:

[0043] When the distance between the vehicle and the target parking space meets the preset distance requirement, the location corresponding to the vehicle's current second location information is used as the mode switching point, and the vehicle is controlled to switch to parking mode.

[0044] Furthermore, the mode switching condition also includes the vehicle arriving at the mode switching location specified by the user;

[0045] Then, after obtaining the second location information of the vehicle, the method further includes:

[0046] Determine whether the vehicle has reached the user-specified mode switching location based on the vehicle's second location information;

[0047] Then, when the preset mode switching conditions are met, the current second location information of the vehicle is used as the mode switching point, and the vehicle is controlled to switch to parking mode, specifically including:

[0048] When the vehicle arrives at the mode switching location specified by the user, the location corresponding to the vehicle's current second location information is used as the mode switching point, and the vehicle is controlled to switch to parking mode.

[0049] Furthermore, the control of the vehicle to complete automatic parking specifically includes:

[0050] When no target parking space is detected, the location information of the target parking space is obtained from the positioning map, a path is planned based on the location information of the target parking space, and automatic parking is performed according to the planned path.

[0051] When the target parking space is detected, the target parking space is located in real time, and the route is replanned based on the real-time location information of the target parking space. Automatic parking is then completed according to the replanned route.

[0052] A third aspect of the present invention also provides a computer-readable storage medium, the computer-readable storage medium including a stored computer program; wherein, when the computer program is executed, it controls the device where the computer-readable storage medium is located to execute the positioning map construction method for HPA as described in any of the first aspects above, or the vehicle parking method based on HPA as described in any of the second aspects above.

[0053] A fourth aspect of the present invention also provides a terminal device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, it implements the positioning map construction method for HPA as described in any of the first aspects above, or the vehicle parking method based on HPA as described in any of the second aspects above.

[0054] Furthermore, the terminal device is a parking controller, which is integrated into the ADAS domain controller.

[0055] Compared with existing technologies, embodiments of the present invention provide a location map construction method for HPA, a vehicle parking method based on HPA, a computer-readable storage medium, and a terminal device. By identifying parking spaces and vehicles parked in target parking areas, a location map is constructed based on the parking space identification results and vehicle identification results. The location map establishes a correspondence between parking space location information, parking space identifiers, and vehicle identifiers. The location information is the location identifier corresponding to the position of the parking space relative to the location map. During HPA path playback, based on the location map, the first location information of the vehicle is obtained according to the detected parking space identifiers or vehicle identifiers. The vehicle's self-positioning information is corrected based on the first location information to obtain the second location information of the vehicle. When a preset mode switching condition is met, the current second location information of the vehicle is used as the mode switching point, controlling the vehicle to switch to parking mode and complete automatic parking. By constructing a location map and using it to assist vehicle positioning, the positioning accuracy during vehicle parking can be improved, and the vehicle's mode switching points can be rationally arranged. Attached Figure Description

[0056] Figure 1 This is a schematic diagram illustrating an application scenario of HPA (Hyperactivity Protection) function in a vehicle provided by existing technology.

[0057] Figure 2 This is a flowchart of a preferred embodiment of a location map construction method for HPA provided in the first aspect of the present invention;

[0058] Figure 3 This is a flowchart of a preferred embodiment of a vehicle parking method based on HPA provided in the second aspect of the present invention;

[0059] Figure 4 This is a schematic diagram of an application scenario for obtaining the first location information of a vehicle, provided by an embodiment of the present invention;

[0060] Figure 5 This is a schematic diagram of another application scenario for obtaining the first location information of a vehicle provided by an embodiment of the present invention;

[0061] Figure 6 This is a schematic diagram of an application scenario for determining the mode switching point of a vehicle, provided by an embodiment of the present invention;

[0062] Figure 7 This is a structural block diagram of a preferred embodiment of a terminal device provided by the present invention. Detailed Implementation

[0063] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0064] The first aspect of this invention provides a method for constructing a location map for HPA, see [link to relevant documentation]. Figure 2 The diagram shown is a flowchart of a preferred embodiment of a location map construction method for HPA provided in the first aspect of the present invention, the method comprising steps S11 to S12:

[0065] Step S11: Identify the parking spaces and vehicles parked in the target parking area to obtain parking space identification results and vehicle identification results;

[0066] Step S12: Construct a positioning map based on the parking space recognition result and the vehicle recognition result; wherein, the positioning map establishes the correspondence between the parking space location information, the parking space identifier and the vehicle identifier, and the location information is the location identifier corresponding to the position of the parking space relative to the positioning map.

[0067] Specifically, before parking a vehicle based on the HPA function, all parking spaces in the target parking area and all vehicles parked in those spaces are identified, and parking space identification results and vehicle identification results are obtained accordingly. Then, a positioning map is constructed based on the obtained parking space identification results and vehicle identification results. The constructed positioning map establishes the corresponding relationship between the location information of the parking spaces, the parking space identifiers, and the vehicle identifiers of the vehicles parked in the parking spaces. In addition, unlike conventional location information (such as geographical location obtained through the Global Navigation Satellite System GNSS), the location information of the parking spaces in the positioning map is represented by location identifiers, which are used to represent the position of the parking space relative to the positioning map in the positioning map's own reference coordinate system.

[0068] It should be noted that when identifying parking spaces and vehicles in a target parking area, the identification of parking space markings (such as parking lines and parking space numbers) can be performed, and the identification of vehicle markings (such as license plate numbers) can be performed. Existing identification methods such as visual sensors and deep learning algorithms can be used to identify parking space markings and vehicle markings separately, and the resulting identification depends on the specific scenario. At each parking space, the identification result generally includes the following four situations: only the parking space marking is identified (e.g., no vehicle is parked in the space, so the vehicle marking cannot be identified), only the vehicle marking is identified... The system can detect various scenarios, including: vehicle identification (e.g., a parked vehicle obscuring the parking space sign, or a parked vehicle not obscuring the sign but the sign being damaged); simultaneous detection of both parking space and vehicle identification (e.g., a parked vehicle not obscuring the sign and the sign being undamaged); and failure to detect either parking space or vehicle identification (e.g., poor lighting conditions preventing detection of both). In these cases, correction schemes can be employed to adjust the detection results, resulting in a more complete and accurate location map with precise information on parking space locations and the correspondence between parking space and vehicle identification signs.

[0069] The present invention provides a positioning map construction method for HPA (Hyperparking Parcel Assistance). By constructing a positioning map of the target parking area, the positioning map can be used to assist vehicle positioning during subsequent HPA path playback, thereby improving the positioning accuracy of the vehicle during parking and helping to determine the time point of mode switching, thus enabling more reasonable arrangement of vehicle mode switching points.

[0070] In another preferred embodiment, the parking space recognition result includes the recognized parking space identifier, and the vehicle recognition result includes the recognized vehicle identifier;

[0071] Then, the step of constructing a positioning map based on the parking space recognition result and the vehicle recognition result specifically includes:

[0072] Based on the position of the parking space relative to the positioning map, the identified parking space identifiers are stored on the positioning map, and a location identifier is set for each parking space identifier on the positioning map.

[0073] Based on the correspondence between parking spaces and vehicles parked in those spaces, the identified vehicle identifiers are stored on the location map.

[0074] Specifically, in conjunction with the above embodiments, after identifying parking spaces and vehicles in the target parking area, the obtained parking space identification results include at least the parking space identifier corresponding to each identified parking space, and the obtained vehicle identification results include at least the vehicle identifier corresponding to each identified vehicle. Then, when actually constructing the positioning map, each identified parking space identifier can be stored on the positioning map according to the position of each parking space relative to the positioning map in the reference coordinate system of the positioning map, and a location identifier can be set for each parking space identifier on the positioning map. Furthermore, according to the correspondence between the parking space and the vehicle parked in the parking space, each identified vehicle identifier can be stored on the positioning map.

[0075] It should be noted that since the main application scenario of HPA is parking areas with fixed parking spaces, there is a very good correspondence between parking spaces and vehicles parked in those spaces. Therefore, during the HPA learning process, the parking space identifier and the vehicle identifier of the parked vehicle can be stored together on the location map. In this way, the correspondence between parking space identifiers and vehicle identifiers is established during the construction of the location map. Since there is a one-to-one correspondence between the location information of the parking space and the parking space identifier, the location map establishes the correspondence between the location information of the parking space, the parking space identifier, and the vehicle identifier of the parked vehicle, thus preparing for subsequent HPA path playback.

[0076] In yet another preferred embodiment, the method further includes, during each HPA path playback:

[0077] Determine whether there are any new parking spaces in the target parking area; if so, update the location map based on the new parking spaces.

[0078] Determine whether there are any new vehicles in the target parking area; if so, update the location map based on the new vehicles.

[0079] Determine whether the vehicles parked in the parking spaces of the vehicles already parked in the target parking area have changed. If so, update the positioning map according to the changed vehicles.

[0080] Specifically, in conjunction with the above embodiments, to ensure the accuracy of relevant information in the positioning map, all parking spaces and all vehicles parked in the target parking area can be re-identified each time the HPA path is replayed, and the positioning map can be updated accordingly based on the identification results. The specific update process is as follows:

[0081] Based on the detection results, it can be determined whether there are any new parking spaces in the target parking area. For example, if a certain parking space was not detected before and was not stored on the location map, but can now be detected due to changes in lighting conditions or the absence of a vehicle in the parking space, then it can be determined that there are new parking spaces in the target parking area. The location map can be updated accordingly based on the new parking spaces, that is, the parking space identifier corresponding to the detected parking space is updated to the corresponding location information in the location map.

[0082] Based on the detection results, it can be determined whether there are any new vehicles in the target parking area. For example, if there were no vehicles parked in a certain parking space before, but now a vehicle is detected parked in that parking space, it is determined that there are new vehicles in the target parking area. The location map can be updated accordingly based on the new vehicles, that is, the vehicle identifier corresponding to the detected vehicle is updated to the corresponding parking space in the location map.

[0083] Based on the detection results, it can be determined whether the vehicles parked in the parking spaces of the parked vehicles in the target parking area have changed. For example, if nine out of ten detections show that the vehicle identification does not match the corresponding vehicle identification stored in the location map, and the detection result points to a new vehicle identification, then it can be determined that the vehicles parked in the parking spaces of the parked vehicles in the target parking area have changed. The location map can then be updated accordingly based on the changed vehicles, that is, the new vehicle identification is updated to the corresponding parking space in the location map.

[0084] It should be noted that by updating the positioning map, the embodiments of the present invention can obtain a more complete and accurate positioning map, thereby further improving the positioning accuracy of the vehicle when using the positioning map to assist in vehicle positioning in the future.

[0085] A second aspect of this invention provides a vehicle parking method based on HPA, see [link to relevant documentation]. Figure 3 The diagram shown is a flowchart of a preferred embodiment of a vehicle parking method based on HPA provided in the second aspect of the present invention, the method comprising steps S21 to S24:

[0086] Step S21: Obtain the location map;

[0087] Step S22: During the HPA path playback process, based on the positioning map, the first location information of the vehicle is obtained according to the detected parking space or vehicle identification, and the self-positioning information of the vehicle is corrected according to the first location information of the vehicle to obtain the second location information of the vehicle.

[0088] Step S23: When the preset mode switching conditions are met, the current second location information of the vehicle is taken as the mode switching point, and the vehicle is controlled to switch to parking mode.

[0089] Step S24: Based on the parking mode, control the vehicle to complete automatic parking.

[0090] Specifically, a positioning map is obtained using the positioning map construction method for HPA described in any of the embodiments of the first aspect above. Based on this, when parking a vehicle based on the HPA function, during the entire HPA path playback process, the obtained positioning map can be used to obtain the vehicle's first position information based on the real-time detected parking space markers or vehicle markers. The vehicle's real-time self-positioning information is then corrected based on the obtained first position information to obtain the vehicle's second position information. In the actual parking process, once it is determined that the preset mode switching conditions are met, the position corresponding to the vehicle's current second position information is taken as the mode switching point. At the mode switching point, the vehicle is controlled to switch from cruise mode to parking mode, and in parking mode, the vehicle is controlled to complete automatic parking.

[0091] It should be noted that, in this embodiment of the invention, the license plate number can be used as a vehicle identifier. Since existing identification schemes can identify vehicle license plates very accurately, and the license plate number itself is relatively small, it is a very good location source, especially in coarse matching. Therefore, during HPA path playback, the location of the vehicle can be determined based on the identified license plate number. For example, during path playback, if the sensor identifies a certain license plate number, it can be determined that the vehicle is approximately near the parking space corresponding to that license plate number.

[0092] This invention provides a vehicle parking method based on HPA (Hyperposition and Positioning). By pre-constructing a positioning map, during HPA path playback, the method utilizes the pre-constructed positioning map to obtain the vehicle's first location information based on detected parking space markers or vehicle markers. The method then corrects the vehicle's self-positioning information based on this first location information to obtain the vehicle's second location information. When a pre-set mode switching condition is met, the current second location information of the vehicle is used as the mode switching point, controlling the vehicle to switch to parking mode. In parking mode, the vehicle can automatically park. By constructing and utilizing the positioning map, and correcting the vehicle's own positioning information based on the location information corresponding to parking space markers or vehicle markers, the method assists in vehicle positioning, obtaining more accurate and reliable positioning, thereby improving the positioning accuracy during the parking process. By identifying parking space markers or vehicle markers within a preset range of the target parking space and combining this with the vehicle's positioning, the method can help determine the time point for mode switching, thus enabling more reasonable scheduling of vehicle mode switching points. Furthermore, this invention also improves the robustness of vehicle positioning and the availability of the HPA system.

[0093] In yet another preferred embodiment, obtaining the vehicle's first location information based on the detected parking space marker or vehicle marker according to the positioning map specifically includes:

[0094] When any parking space sign or vehicle sign is detected, the detected parking space sign or vehicle sign is matched with the parking space sign or vehicle sign in the location map;

[0095] When a matching parking space or vehicle identifier exists in the location map, the location information of the corresponding parking space is determined based on the matching parking space or vehicle identifier.

[0096] The vehicle's initial location information is obtained based on the determined parking space location information.

[0097] Specifically, in conjunction with the above embodiments, when using a positioning map to obtain the first location information of a vehicle based on real-time detected parking space markers or vehicle markers, the specific implementation process is as follows: When any parking space marker in the target parking area is detected in real time, the detected parking space marker is matched with all parking space markers in the constructed positioning map. When there is a matching parking space marker (e.g., the same parking space marker) in the positioning map, the location information of the corresponding parking space is determined based on the matching parking space marker in the positioning map, and the first location information of the vehicle is obtained based on the determined parking space location information. Similarly, when any vehicle marker in the target parking area is detected in real time, the detected vehicle marker is matched with all vehicle markers in the constructed positioning map. When there is a matching vehicle marker (e.g., the same vehicle marker) in the positioning map, the location information of the corresponding parking space is determined based on the matching vehicle marker in the positioning map, and the first location information of the vehicle is obtained based on the determined parking space location information.

[0098] Combination Figure 4 The diagram shown is an application scenario illustration of obtaining the first location information of a vehicle provided by an embodiment of the present invention. During HPA path playback, if the sensor on the vehicle detects license plate number III on the right side of the vehicle's direction of travel, it can be determined that the vehicle's location is near the parking space corresponding to license plate number III. Then, license plate number III is matched with all license plate numbers in the positioning map. Since there is a matching license plate number III in the positioning map, the location information of the parking space corresponding to license plate number III can be determined based on the license plate number III in the positioning map. The first location information of the vehicle can be obtained based on the location information of the parking space corresponding to license plate number III.

[0099] It should be noted that since the vehicle's position can be determined to be near the detected parking space sign or vehicle sign based on the detected parking space sign or vehicle sign, the vehicle's first position information can be set accordingly based on the position information of the parking space corresponding to the detected parking space sign or vehicle sign. For example, the vehicle's first position information can be calculated by adding a preset distance to the parking space position information, or the vehicle's first position information can be represented as a circle with the parking space position information as the center and a preset distance as the radius. This embodiment of the invention does not impose specific limitations.

[0100] As an improvement to the above solution, obtaining the vehicle's first location information based on the determined parking space location information specifically includes:

[0101] Retrieve the location information of the parking space determined last time based on the detected parking space sign or vehicle sign;

[0102] The vehicle's first location information is obtained by comparing the previously determined parking space location information with the currently determined parking space location information.

[0103] Specifically, in conjunction with the above embodiments, when obtaining the first location information of a vehicle based on the determined parking space location information, it can be understood that when a parking space sign or vehicle sign was detected last time, the above embodiments enabled the determination of the corresponding parking space location information based on the detected parking space sign or vehicle sign, which is referred to as the previously determined parking space location information; when a parking space sign or vehicle sign is detected this time (i.e., the current time), the above embodiments also enable the determination of the corresponding parking space location information based on the detected parking space sign or vehicle sign, which is referred to as the currently determined parking space location information; therefore, by comprehensively considering the previously determined parking space location information and the currently determined parking space location information, the first location information of the vehicle can be obtained, and by utilizing the historically determined parking space location information, a more accurate first location information of the vehicle can be obtained.

[0104] Combination Figure 5 The diagram illustrates another application scenario for obtaining the first location information of a vehicle, provided by an embodiment of the present invention. During HPA path playback, the sensors on the vehicle detect license plate number III and license plate number JJJ sequentially on the right side of the vehicle's direction of travel. License plate number III is detected first (e.g., ...). Figure 4 When license plate number III is detected (as shown), it is matched with all license plate numbers on the location map. Since license plate number III exists in the location map, the location information of the parking space corresponding to license plate number III can be determined based on the location map (equivalent to the previously determined parking space location information). Then, license plate number JJJ (as shown) is detected. Figure 5 When the license plate number JJJ is matched with all license plate numbers on the location map, and there is a matching license plate number JJJ in the location map, the location information of the parking space corresponding to the license plate number JJJ can be determined based on the license plate number JJJ in the location map (equivalent to the location information of the parking space determined in the current time); finally, the first location information of the vehicle can be obtained based on the location information of the parking space corresponding to license plate number III and the location information of the parking space corresponding to license plate number JJJ.

[0105] It should be noted that the method for obtaining the first location information of a vehicle provided in this embodiment of the invention is not used for precise positioning of the vehicle, but can be used to correct the vehicle's self-positioning information in the future. By obtaining the first location information of the vehicle, the approximate location range of the vehicle can be given, thereby determining whether the vehicle's self-positioning information has a relatively large error.

[0106] In yet another preferred embodiment, the step of correcting the vehicle's self-positioning information based on the vehicle's first position information to obtain the vehicle's second position information specifically includes:

[0107] After obtaining the vehicle's initial location information, the vehicle's self-location information is obtained;

[0108] Compare the vehicle's self-location information with the vehicle's primary location information;

[0109] When the deviation between the vehicle's self-positioning information and the vehicle's first position information is greater than a preset deviation threshold, the vehicle's first position information is used as the vehicle's second position information.

[0110] When the deviation between the vehicle's self-positioning information and the vehicle's first position information is not greater than a preset deviation threshold, the vehicle's self-positioning information is used as the vehicle's second position information.

[0111] Specifically, in conjunction with the above embodiments, after obtaining the vehicle's first location information based on the real-time detected parking space markers or vehicle markers, the vehicle's self-positioning information can be obtained through vehicle self-positioning. The obtained vehicle self-positioning information is then compared with the vehicle's first location information to determine whether there is a significant deviation in the vehicle's self-positioning information. When it is determined that the deviation between the vehicle's self-positioning information and the vehicle's first location information is greater than a preset deviation threshold (e.g., the vehicle's self-positioning information exceeds the location range corresponding to the vehicle's first location information), the vehicle's first location information is directly used as the vehicle's second location information. When it is determined that the deviation between the vehicle's self-positioning information and the vehicle's first location information is less than or equal to the preset deviation threshold (e.g., the vehicle's self-positioning information does not exceed the location range corresponding to the vehicle's first location information), the vehicle's self-positioning information is directly used as the vehicle's second location information.

[0112] In yet another preferred embodiment, the mode switching condition includes detecting a parking space sign or vehicle sign within a preset range of the target parking space;

[0113] Then, when the preset mode switching conditions are met, the current second location information of the vehicle is used as the mode switching point, and the vehicle is controlled to switch to parking mode, specifically including:

[0114] When a parking space sign or vehicle sign is detected within a preset range of the target parking space, the vehicle's current first location information is obtained based on the detected parking space sign or vehicle sign.

[0115] The vehicle's current self-positioning information is corrected based on the vehicle's current first location information to obtain the vehicle's current second location information;

[0116] The location corresponding to the vehicle's current second location information is used as the mode switching point to control the vehicle to switch to parking mode.

[0117] Specifically, in conjunction with the above embodiments, the pre-set mode switching conditions include detecting a parking space marker or vehicle marker within a preset range of the target parking space. Correspondingly, during the entire HPA path playback process, when a parking space marker or vehicle marker within a preset range of the target parking space is detected in real time, the vehicle's current first position information can be obtained based on the detected parking space marker or vehicle marker. At the same time, the vehicle's current self-positioning information is also obtained. The vehicle's current self-positioning information can then be corrected based on the obtained vehicle's current first position information to obtain the vehicle's current second position information. At this point, the location corresponding to the vehicle's current second position information can be used as the mode switching point, and the vehicle can be controlled to switch from cruise mode to parking mode at the mode switching point.

[0118] For example, the target parking space can be determined during the HPA learning process. The HPA first learns the path from the starting point to the end point. During the learning process, the driver drives the vehicle, and during this process, it can be determined which parking space in the target parking area will be the target parking space.

[0119] Combination Figure 6 The diagram illustrates an application scenario for determining a vehicle's mode switching point according to an embodiment of the present invention. It assumes that the parking space identifiers within a preset range of the target parking space are the identifiers corresponding to the adjacent and next-next-adjacent parking spaces of the target parking space. Figure 6 As shown, the license plate number of the vehicle already parked in the adjacent parking space is NNN, and the license plate number of the vehicle already parked in the next adjacent parking space is MMM. During HPA path playback, if the sensor on the vehicle detects license plate number MMM on the right side of the vehicle's direction of travel, then the license plate number MMM is matched with all license plate numbers in the positioning map. Since there is a matching license plate number MMM in the positioning map, the location information of the parking space corresponding to license plate number MMM can be determined based on the license plate number MMM in the positioning map. Based on the location information of the parking space corresponding to license plate number MMM, the vehicle's current first location information can be obtained. At the same time, the vehicle's current self-localization information is obtained, and the vehicle's current self-localization information can be corrected based on the obtained first location information to obtain the vehicle's current second location information. At the location corresponding to the vehicle's current second location information, the vehicle can be controlled to switch from cruise mode to parking mode.

[0120] In another preferred embodiment, the mode switching condition further includes that the distance between the vehicle and the target parking space meets a preset distance requirement;

[0121] Then, after obtaining the second location information of the vehicle, the method further includes:

[0122] The distance between the vehicle and the target parking space is calculated based on the vehicle's second location information;

[0123] Determine whether the distance between the vehicle and the target parking space meets the preset distance requirement;

[0124] Then, when the preset mode switching conditions are met, the current second location information of the vehicle is used as the mode switching point, and the vehicle is controlled to switch to parking mode, specifically including:

[0125] When the distance between the vehicle and the target parking space meets the preset distance requirement, the location corresponding to the vehicle's current second location information is used as the mode switching point, and the vehicle is controlled to switch to parking mode.

[0126] Specifically, in conjunction with the above embodiments, the preset mode switching conditions also include that the distance between the vehicle and the target parking space meets the preset distance requirements. Accordingly, during the entire HPA path playback process, after obtaining the vehicle's second location information each time, the distance between the vehicle and the target parking space can be calculated based on the vehicle's current second location information and the target parking space's location information. It can then be determined whether the distance between the vehicle and the target parking space meets the preset distance requirements. When it is determined that the distance between the vehicle and the target parking space meets the preset distance requirements, the location corresponding to the vehicle's current second location information can be used as the mode switching point. At the mode switching point, the vehicle can be controlled to switch from cruise mode to parking mode.

[0127] It should be noted that the distance limit corresponding to the distance requirement can be set according to actual needs, and it is necessary to ensure that the remaining distance between the vehicle and the target parking space can meet the parking needs.

[0128] In yet another preferred embodiment, the mode switching condition further includes the vehicle arriving at the mode switching location specified by the user;

[0129] Then, after obtaining the second location information of the vehicle, the method further includes:

[0130] Determine whether the vehicle has reached the user-specified mode switching location based on the vehicle's second location information;

[0131] Then, when the preset mode switching conditions are met, the current second location information of the vehicle is used as the mode switching point, and the vehicle is controlled to switch to parking mode, specifically including:

[0132] When the vehicle arrives at the mode switching location specified by the user, the location corresponding to the vehicle's current second location information is used as the mode switching point, and the vehicle is controlled to switch to parking mode.

[0133] Specifically, in conjunction with the above embodiments, the pre-set mode switching conditions also include the vehicle arriving at the mode switching location specified by the user. Accordingly, during the entire HPA path playback process, after obtaining the vehicle's second location information each time, the vehicle's current second location information can be further compared with the location information of the mode switching location specified by the user to determine whether the vehicle has arrived at the mode switching location specified by the user. When it is determined that the vehicle has arrived at the mode switching location specified by the user, the location corresponding to the vehicle's current second location information can be used as the mode switching point, and the vehicle can be controlled to switch from cruise mode to parking mode at the mode switching point.

[0134] It should be noted that the user-specified mode switching location can be set by the user during the HPA learning process, based on the actual situation.

[0135] In yet another preferred embodiment, controlling the vehicle to complete automatic parking specifically includes:

[0136] When no target parking space is detected, the location information of the target parking space is obtained from the positioning map, a path is planned based on the location information of the target parking space, and automatic parking is performed according to the planned path.

[0137] When the target parking space is detected, the target parking space is located in real time, and the route is replanned based on the real-time location information of the target parking space. Automatic parking is then completed according to the replanned route.

[0138] Specifically, in conjunction with the above embodiments, when a parking space marker or vehicle marker within a preset range of the target parking space is detected (before the target parking space has been detected), the mode switching point is determined through the above embodiments, and the vehicle is controlled to switch from cruise mode to parking mode at the mode switching point. Therefore, the process of controlling the vehicle to complete automatic parking in parking mode can be divided into two stages: The first stage is before the target parking space is detected. Based on the stored value in the positioning map, the location information corresponding to the target parking space can be obtained accordingly. The location information of the target parking space determined by the positioning map is used as the endpoint, and path planning is performed in combination with the vehicle's current second location information. Automatic parking is then performed according to the planned path. The second stage is after the target parking space is detected. Real-time positioning can be performed based on the detected target parking space. The real-time positioning information of the target parking space determined by the real-time positioning of the target parking space is used as the endpoint, and path planning is re-performed in combination with the vehicle's current second location information. Automatic parking is then completed according to the re-planned path.

[0139] A third aspect of the present invention also provides a computer-readable storage medium, the computer-readable storage medium including a stored computer program; wherein, when the computer program is executed, it controls the device where the computer-readable storage medium is located to execute the positioning map construction method for HPA as described in any embodiment of the first aspect above, or the vehicle parking method based on HPA as described in any embodiment of the second aspect above.

[0140] This invention also provides a terminal device, see [link to relevant documentation]. Figure 7 The diagram shown is a structural block diagram of a preferred embodiment of a terminal device provided by the present invention. The terminal device includes a processor 10, a memory 20, and a computer program stored in the memory 20 and configured to be executed by the processor 10. When executing the computer program, the processor 10 implements the positioning map construction method for HPA as described in any of the embodiments of the first aspect above, or the vehicle parking method based on HPA as described in any of the embodiments of the second aspect above.

[0141] Preferably, the computer program can be divided into one or more modules / units (such as computer program 1, computer program 2, ...), and the one or more modules / units are stored in the memory 20 and executed by the processor 10 to complete the present invention. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program in the terminal device.

[0142] The processor 10 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor, or the processor 10 may be any conventional processor. The processor 10 is the control center of the terminal device, connecting various parts of the terminal device through various interfaces and lines.

[0143] The memory 20 mainly includes a program storage area and a data storage area. The program storage area can store the operating system, applications required for at least one function, etc., while the data storage area can store related data, etc. Furthermore, the memory 20 can be a high-speed random access memory, or a non-volatile memory, such as a plug-in hard disk, a smart media card (SMC), a secure digital card (SD), and a flash card, or other volatile solid-state storage devices.

[0144] It should be noted that the aforementioned terminal devices may include, but are not limited to, processors and memory, as will be understood by those skilled in the art. Figure 7 The structural block diagram is merely an example of the terminal device described above and does not constitute a limitation on the terminal device. It may include more or fewer components than shown in the diagram, or combine certain components, or use different components.

[0145] As an improvement to the above solution, the terminal device is a parking controller, which is integrated into the ADAS domain controller.

[0146] It is understood that the terminal device used in the embodiments of the present invention can be a parking controller, and the parking controller is integrated in the ADAS (Advanced Driving Assistant System, ADAS) domain controller. That is, the positioning map construction method for HPA described in any of the first aspects above, or the vehicle parking method based on HPA described in any of the second aspects above, can be implemented through the parking controller in the ADAS domain controller.

[0147] In summary, the present invention provides a location map construction method for HPA, a vehicle parking method based on HPA, a computer-readable storage medium, and a terminal device. This method identifies parking spaces and vehicles parked in target parking areas to construct a location map based on the parking space and vehicle identification results. The location map establishes a correspondence between parking space location information, parking space identifiers, and vehicle identifiers. The location information refers to the location identifier corresponding to the parking space's position relative to the location map. During HPA path playback, the constructed location map can be used to obtain the vehicle's first location information based on detected parking space or vehicle identifiers. The vehicle's self-location information is then corrected based on the first location information to obtain the vehicle's second location information. When a vehicle is detected... When the vehicle reaches a parking space marker or vehicle marker within a preset range of the target parking space, the vehicle's current second location information is used as a mode switching point to control the vehicle to switch to parking mode, thereby controlling the vehicle to complete automatic parking. By constructing and utilizing a positioning map, the vehicle's own positioning information is corrected based on the location information corresponding to the parking space marker or vehicle marker, which can assist in vehicle positioning and obtain more accurate and reliable positioning, thereby improving the positioning accuracy during the vehicle parking process. By identifying parking space markers or vehicle markers within the preset range of the target parking space and combining them with the vehicle's positioning, the timing of mode switching can be determined, thereby enabling more reasonable arrangement of vehicle mode switching points. At the same time, the embodiments of the present invention can also improve the robustness of vehicle positioning and the availability of the HPA system.

[0148] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A vehicle parking method based on HPA, characterized in that, include: The step of obtaining a positioning map is a map constructed by identifying parking spaces and vehicles parked in the target parking area, and establishing the correspondence between the location information of the parking spaces, the parking space identifiers and the vehicle identifiers. The location information is the location identifier corresponding to the position of the parking space relative to the positioning map. During HPA path playback, based on the positioning map, the vehicle's first location information is obtained according to the detected parking space or vehicle identifiers. Specifically, this includes: obtaining the vehicle's self-positioning information and comparing it with the first location information; when the deviation between the vehicle's self-positioning information and the first location information is greater than a preset deviation threshold, using the first location information as the vehicle's second location information; when the deviation is not greater than the preset deviation threshold, using the vehicle's self-positioning information as the vehicle's second location information; and when preset mode switching conditions are met, using the vehicle's current second location information as a mode switching point and controlling the vehicle to switch to parking mode. The mode switching conditions include, but are not limited to: detecting parking space or vehicle identifiers within a preset range of the target parking space, and the distance between the vehicle and the target parking space meeting a preset threshold; or, the vehicle reaching a user-specified mode switching location, and the deviation between the vehicle's second location information and the user-specified location being within a preset range. Based on the parking mode, the vehicle is controlled to complete automatic parking.

2. The HPA-based vehicle parking method as described in claim 1, characterized in that, The steps for obtaining the location map specifically include: The system identifies parking spaces and vehicles parked in the target parking area to obtain parking space identification results and vehicle identification results. Based on the position of the parking space relative to the positioning map, the identified parking space identifiers are stored on the positioning map, and a location identifier is set for each parking space identifier on the positioning map. Based on the correspondence between the parking space and the vehicle parked in the parking space, the identified vehicle identifiers are stored on the positioning map.

3. The HPA-based vehicle parking method as described in claim 1, characterized in that, The step of obtaining the vehicle's first location information based on the location map and the detected parking space or vehicle identifier specifically includes: When any parking space sign or vehicle sign is detected, the detected parking space sign or vehicle sign is matched with the parking space sign or vehicle sign in the location map; When a matching parking space or vehicle identifier exists in the location map, the location information of the corresponding parking space is determined based on the matching parking space or vehicle identifier. The vehicle's initial location information is obtained based on the determined parking space location information.

4. The HPA-based vehicle parking method as described in claim 3, characterized in that, The step of obtaining the vehicle's first location information based on the determined parking space location information specifically includes: Retrieve the location information of the parking space determined last time based on the detected parking space sign or vehicle sign; The vehicle's first location information is obtained by comparing the previously determined parking space location information with the currently determined parking space location information.

5. The HPA-based vehicle parking method as described in claim 1, characterized in that, Each time the HPA path is replayed, the step of obtaining the location map further includes a step of updating the location map, specifically including: Determine whether there are any new parking spaces in the target parking area; if so, update the location map based on the new parking spaces. Determine whether there are any new vehicles in the target parking area; if so, update the location map based on the new vehicles. Determine whether the vehicles parked in the parking spaces of the vehicles already parked in the target parking area have changed. If so, update the positioning map according to the changed vehicles.

6. The HPA-based vehicle parking method as described in any one of claims 1, characterized in that, The process of controlling the vehicle to complete automatic parking specifically includes: When no target parking space is detected, the location information of the target parking space is obtained from the positioning map, a path is planned based on the location information of the target parking space, and automatic parking is performed according to the planned path. When the target parking space is detected, the target parking space is located in real time, and the route is replanned based on the real-time location information of the target parking space. Automatic parking is then completed according to the replanned route.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored computer program; wherein, when the computer program is executed, it controls the device on which the computer-readable storage medium is located to perform the HPA-based vehicle parking method as described in any one of claims 1 to 6.

8. A terminal device, characterized in that, The system includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor, when executing the computer program, implements the HPA-based vehicle parking method as described in any one of claims 1 to 6.

9. The terminal device as described in claim 8, characterized in that, The terminal device is a parking controller, which is integrated into the ADAS domain controller.

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