Outdoor parking method, device and unmanned vehicle

Abstract

The embodiment of the present application relates to the technical field of unmanned vehicle, and particularly relates to an outdoor parking method, device and unmanned vehicle.The method comprises the following steps: the outdoor parking method is applied to the unmanned vehicle; it is judged whether an obstacle is detected within a preset range of the unmanned vehicle; if the obstacle is detected within the preset range of the unmanned vehicle, a target position is determined according to the position of the detected obstacle; a path is planned according to the target position, so as to control the unmanned vehicle to move towards the target position, and a surface sensing parameter of the unmanned vehicle is acquired in real time; when the surface sensing parameter meets a parking condition, the unmanned vehicle is controlled to park.Through the above method, the embodiment of the present application can select a suitable parking point for the unmanned vehicle in the face of uncertain outdoor weather environment, and the unmanned vehicle body can be protected.

Description

Technical Field

[0001] This invention relates to the field of unmanned vehicle technology, specifically to an outdoor parking method, device, and unmanned vehicle. Background Technology

[0002] With the development of artificial intelligence and autonomous vehicle technology, the chassis of autonomous vehicles have been developed to carry certain hardware and software equipment, enabling intelligent delivery vehicles capable of carrying and transporting goods. The application of autonomous vehicles can save labor costs and improve work efficiency, but different outdoor weather conditions can affect their operation, leading to delivery mission failures. For example, due to outdoor sunlight, prolonged exposure can cause the vehicle to heat up, becoming like an oven, which is detrimental to delivering goods; if it is food, it can cause it to spoil.

[0003] In the process of implementing the embodiments of the present invention, the inventors of the present invention discovered that: currently, unmanned vehicles are easily affected by uncertain weather conditions when operating outdoors, so unmanned vehicles need to park at suitable parking points after completing delivery tasks. Summary of the Invention

[0004] The main technical problem solved by the embodiments of the present invention is to select suitable parking points for unmanned vehicles in the face of uncertain outdoor weather conditions.

[0005] In view of the above problems, embodiments of the present invention provide an outdoor parking method, device and unmanned vehicle, which overcome the above problems or at least partially solve the above problems.

[0006] According to one aspect of the present invention, an outdoor parking method is provided, applied to an unmanned vehicle, the method comprising: determining whether an obstruction is detected within a preset range of the unmanned vehicle; if an obstruction is detected within the preset range of the unmanned vehicle, determining a target location based on the detected location of the obstruction; planning a path based on the target location to control the unmanned vehicle to move toward the target location, and acquiring surface perception parameters of the unmanned vehicle in real time; and controlling the unmanned vehicle to stop when the surface perception parameters meet the parking conditions.

[0007] Optionally, determining whether an obstruction is detected within a preset range of the unmanned vehicle includes: acquiring point cloud data within a preset range on both sides of the lane where the unmanned vehicle is located based on an image sensor and / or lidar; identifying object features based on the point cloud data; and if the object features are tree-shaped features, determining the object corresponding to the object feature whose size is greater than a preset threshold as the obstruction.

[0008] Optionally, determining the target location based on the detected location of the obstruction includes: determining a target location within the lane based on the location of the obstruction in the navigation map of the autonomous vehicle, wherein the line connecting the target location and the obstruction is perpendicular to the extension direction of the lane.

[0009] Optionally, the surface perception parameter is light intensity; planning a path according to the target location to control the unmanned vehicle to move towards the target location, and acquiring the surface perception parameters of the unmanned vehicle in real time, includes: planning a path according to the current position of the unmanned vehicle and the target location to obtain a driving path to the target location; controlling the unmanned vehicle to drive according to the driving path so that the unmanned vehicle moves towards the target location; and acquiring the surface perception parameters of the unmanned vehicle in real time through a light sensor configured on the surface of the unmanned vehicle during the process of the unmanned vehicle moving towards the target location.

[0010] Optionally, meeting the parking conditions means that the surface perception parameters of the unmanned vehicle are less than a preset threshold. When the surface perception parameters meet the parking conditions, controlling the unmanned vehicle to park includes: when the surface perception parameters are less than the preset threshold, the unmanned vehicle meets the parking conditions; acquiring a ground image, and determining whether a sunlit area and a shadow area are identified based on the ground image; if the shadow area is identified, controlling the unmanned vehicle to park in the shadow area.

[0011] Optionally, before determining whether an obstruction is detected within the preset range of the unmanned vehicle, the method further includes: marking the parking position of the unmanned vehicle on the navigation map of the unmanned vehicle and recording it as historical parking information, wherein the historical parking information includes the parking position and the available parking time period corresponding to the parking position; accordingly, after determining the target position based on the position of the detected obstruction, the method further includes: if the current time of the unmanned vehicle matches the available parking time period in the historical parking information, then selecting the position point closest to the unmanned vehicle from the parking position corresponding to the available parking time period and the target position as the final position; and determining the final position as the final target position.

[0012] Optionally, before determining whether an obstruction is detected within the preset range of the unmanned vehicle, the method further includes: marking the parking position of the unmanned vehicle on the navigation map of the unmanned vehicle and recording it as historical parking information, wherein the historical parking information includes the parking position and the available parking time period corresponding to the parking position; correspondingly, the method further includes: if the obstruction cannot be detected, determining the parking position corresponding to the most recent available parking time period of the unmanned vehicle in the historical parking information as the final target position.

[0013] Optionally, during the outdoor activities of the unmanned vehicle, the light intensity on the surface of the unmanned vehicle is acquired in real time; the light intensity is displayed through the display device of the unmanned vehicle and / or the light intensity is announced by voice, so as to provide a warning to the user.

[0014] According to another aspect of the present invention, an outdoor parking device is provided, the parking device comprising: a detection module for determining whether an obstruction is detected within a preset range of an unmanned vehicle; a determination module for determining a target location based on the detected location of the obstruction if an obstruction is detected within the preset range of the unmanned vehicle; a first control module for planning a path based on the target location to control the unmanned vehicle to move towards the target location and for acquiring surface perception parameters of the unmanned vehicle in real time; and a second control module for controlling the unmanned vehicle to stop when the surface perception parameters meet the stopping conditions.

[0015] According to another aspect of the present invention, an unmanned vehicle is provided, the unmanned vehicle comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the outdoor parking method as described above.

[0016] Unlike related technologies, this invention provides an outdoor parking method, device, and unmanned vehicle. The method involves determining whether an obstruction is detected within a preset range of the unmanned vehicle; if an obstruction is detected within the preset range, a target location is determined based on the detected obstruction's position; a path is planned based on the target location to control the unmanned vehicle to move towards the target location, and the surface perception parameters of the unmanned vehicle are acquired in real time; when the surface perception parameters meet the parking conditions, the unmanned vehicle is controlled to park. This allows for the selection of suitable parking points for the unmanned vehicle in uncertain outdoor weather conditions, protecting the robot itself and providing high-quality delivery services. Attached Figure Description

[0017] One or more embodiments are illustrated by way of example with reference to the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements having the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0018] Figure 1 This is a flowchart of an outdoor parking method provided in an embodiment of the present invention;

[0019] Figure 2 This is a flowchart of a method for determining whether an obstruction is detected within a preset range of the unmanned vehicle, provided by an embodiment of the present invention.

[0020] Figure 3 This is a flowchart of a method for traveling to a target location provided in an embodiment of the present invention;

[0021] Figure 4 This is a flowchart of the unmanned vehicle parking method provided in an embodiment of the present invention;

[0022] Figure 5 This is a flowchart of another outdoor parking method provided in an embodiment of the present invention;

[0023] Figure 6 This is a flowchart of a method for determining a target location provided in an embodiment of the present invention;

[0024] Figure 7 This is a schematic diagram of the structure of an outdoor parking device provided in an embodiment of the present invention;

[0025] Figure 8 This is a schematic diagram of an unmanned vehicle provided in an embodiment of the present invention. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0027] It should be noted that, unless otherwise specified, the various features in the embodiments of the present invention can be combined with each other, and all are within the protection scope of the present invention. Furthermore, although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different module division or in a different order than that shown in the device schematic diagram or the flowchart.

[0028] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0029] Example 1

[0030] This invention provides an outdoor parking method applicable to unmanned vehicles. Please refer to [link / reference]. Figure 1 , Figure 1 This is a flowchart of an outdoor parking method provided in an embodiment of the present invention, including:

[0031] S11. Determine whether an obstruction is detected within the preset range of the unmanned vehicle. The obstruction can specifically be a shading object, a rainproof object, etc., depending on the weather and environment in which the unmanned vehicle is located outdoors. It is understood that when the unmanned vehicle is in a certain position, it can typically collect environmental information within a certain range of that position. This certain range is variable and can be preset according to the actual situation and the performance of the unmanned vehicle; that is, a preset range. In other words, the preset range can be set according to the actual situation, for example, 40m. This disclosure does not specifically limit it. Please refer to... Figure 2 The determination of whether an obstruction is detected within the preset range of the unmanned vehicle includes:

[0032] S111. Obtain point cloud data within a preset range on both sides of the lane where the unmanned vehicle is located using an image sensor and / or lidar. The lidar continuously scans and collects the point cloud data within the preset range.

[0033] S112. Identify object features based on the point cloud data. The point cloud data can be understood as a set of points in a coordinate system, which can provide not only accurate three-dimensional position information of the object, but also various information such as intensity and color. Semantic segmentation can be used to select the object with a cube and accurately identify the object's features.

[0034] S113. If the object feature is a tree-shaped feature, then the object corresponding to the object feature whose size is greater than a preset threshold is determined as the occlusion. The object feature is not limited to a tree-shaped feature; it can also be a pavilion feature, a wall feature, etc. For example, if the object feature is a preset pavilion feature, then the object corresponding to the preset pavilion feature is determined as the occlusion. If multiple occlusions are identified simultaneously, the closest occlusion is selected as the occlusion. The image sensor identifies the outline of the occlusion and infers the size of the occlusion based on the distance between the image sensor and the occlusion.

[0035] S12. If an obstruction is detected within the preset range of the autonomous vehicle, a target location is determined based on the detected position of the obstruction. According to the position of the obstruction on the autonomous vehicle's navigation map, a target location within the lane is determined, wherein the line connecting the target location and the obstruction is perpendicular to the extension direction of the lane. The line connecting the target location and the obstruction is the same as the line connecting the target location and the center of the obstruction's point cloud.

[0036] S13. Plan a path according to the target location to control the unmanned vehicle to move towards the target location, and acquire the surface perception parameters of the unmanned vehicle in real time. The surface perception parameters may specifically be light intensity, rain-soaked area, etc., which are not specifically limited in this disclosure. When the surface perception parameter is light intensity, please refer to... Figure 3 The system plans a path based on the target location to control the unmanned vehicle to move towards the target location, and acquires the surface perception parameters of the unmanned vehicle in real time, including:

[0037] S131. Plan a path based on the current position of the unmanned vehicle and the target position to obtain a driving path to the target position. The unmanned vehicle acquires data and builds an environmental map through sensors installed on its surface. Based on the environmental map, the unmanned vehicle determines its position on the environmental map as its starting position. When the user gives the unmanned vehicle a command, the unmanned vehicle can automatically plan a path from the starting position to the target position.

[0038] S132. Control the unmanned vehicle to travel according to the driving path so that the unmanned vehicle moves toward the target location.

[0039] S133. As the unmanned vehicle moves towards the target location, surface perception parameters of the unmanned vehicle are acquired in real time by light sensors configured on its surface. Specifically, the surface perception parameter is light intensity. The unmanned vehicle acquires the light intensity in real time outdoors and displays and / or announces the light intensity via its display device and / or voice broadcast, allowing users to rationally plan outdoor activities based on the light intensity.

[0040] S14. When the surface perception parameters meet the docking conditions, control the unmanned vehicle to dock. When the surface perception parameters of the unmanned vehicle do not meet the docking conditions, then execute the step of determining whether an obstruction is detected within a preset range of the unmanned vehicle and subsequent steps, until the unmanned vehicle successfully docks or the number of iterations reaches a preset number. Meeting the docking conditions means that the surface perception parameters of the unmanned vehicle are less than a preset threshold. The preset threshold can be a preset light intensity, a preset rain-covered area, etc., and can be set according to actual conditions; this disclosure does not specifically limit this. The preset number of iterations can be manually limited; this disclosure does not specifically limit this, for example: the number of iterations is 3. Please refer to... Figure 4 When the surface sensing parameters meet the docking conditions, the unmanned vehicle is controlled to dock, including:

[0041] S141. When the surface sensing parameter is less than a preset threshold, the unmanned vehicle meets the parking conditions. The preset threshold is a preset light intensity.

[0042] S142. Acquire a ground image and determine whether sunlight-exposed areas and shadow areas are identified based on the ground image. An image sensor mounted on the surface of the unmanned vehicle acquires the ground image and obtains image frames based on the ground image. The unmanned vehicle then identifies sunlight-exposed areas and shadow areas from the image frames.

[0043] S143. If the shadow area is detected, the unmanned vehicle is controlled to stop in the shadow area. It should be noted that the position of the shadow area will change over time. If the light intensity collected by the light sensor is greater than a preset threshold, a new shadow area is determined based on the image acquired by the image sensor, and the unmanned vehicle is controlled to stop in the new shadow area.

[0044] In this embodiment of the invention, it is determined whether an obstruction is detected within a preset range of the unmanned vehicle; if an obstruction is detected within the preset range, a target location is determined based on the detected obstruction's position; a path is planned based on the target location to control the unmanned vehicle to move towards the target location, and the surface perception parameters of the unmanned vehicle are acquired in real time; when the surface perception parameters meet the parking conditions, the unmanned vehicle is controlled to park. Through the above method, this embodiment of the invention can select suitable parking points for unmanned vehicles in the face of uncertain outdoor weather conditions, protect the unmanned vehicle itself, provide high-quality delivery services, and also provide suggestions for users' travel.

[0045] The above outdoor parking methods are illustrated with examples below.

[0046] For example, the obstruction is a shading object. Point cloud data within a preset range on both sides of the lane where the unmanned vehicle is located is acquired using image sensors and / or LiDAR. Based on the point cloud data, the features of objects that can provide shade are identified. If the shading object features are tree-shaped features, then the trees corresponding to tree-shaped features with a size greater than a preset threshold are identified as the shading objects. The target location is determined based on the location of the shading objects. A path is planned based on the current location of the unmanned vehicle and the target location to obtain the driving path to the target location. The unmanned vehicle is controlled to drive according to the driving path so that it moves towards the target location. During the unmanned vehicle's movement towards the target location, the light intensity of the unmanned vehicle is acquired in real time by a light sensor configured on the surface of the unmanned vehicle. When the light intensity is less than a preset light intensity, the unmanned vehicle meets the parking conditions. Ground images are acquired by image sensors, and it is determined whether a sunlit area and a shadow area are identified based on the ground images. If a shadow area is identified, the unmanned vehicle is controlled to park in the shadow area.

[0047] For example, the obstruction is a rain shelter. Point cloud data within a preset range on both sides of the lane where the unmanned vehicle is located is acquired using image sensors and / or LiDAR. Based on the point cloud data, features of objects that can provide rain shelter are identified. If the features of the objects that can provide rain shelter are preset pavilion features, then the pavilions corresponding to the pavilion features with a size greater than a preset threshold are identified as the rain shelter. The target location is determined based on the location of the rain shelter. A path is planned based on the current location of the unmanned vehicle and the target location to obtain the driving path to the target location. The unmanned vehicle is controlled to drive according to the driving path so that it moves towards the target location. During the unmanned vehicle's movement towards the target location, the rain area of ​​the unmanned vehicle is acquired in real time using a rain sensor configured on the surface of the unmanned vehicle. When the rain area is less than a preset rain area, the unmanned vehicle meets the parking conditions. Ground images are acquired using image sensors, and it is determined whether rain areas and sheltered areas are identified based on the ground images. If the sheltered area is identified, the unmanned vehicle is controlled to park in the sheltered area.

[0048] Example 2

[0049] This invention provides an outdoor parking method applicable to unmanned vehicles. Please refer to [link / reference]. Figure 5 , Figure 5 This is a flowchart of another outdoor parking method provided in an embodiment of the present invention, including:

[0050] S21. Mark the parking location of the unmanned vehicle on the navigation map and record it as historical parking information. The historical parking information includes the parking location and the corresponding available parking time period. The location of the shadow area varies depending on the light intensity during each time period. For example, the light intensity is 60,000 lx during the time period 12:00–13:00 and 40,000 lx during the time period 15:00–16:00.

[0051] S22. Determine whether an obstruction is detected within the preset range of the unmanned vehicle, and determine the final target location based on the obstruction and historical parking information. It should be noted that the unmanned vehicle needs to park in the same outdoor scene. Please refer to... Figure 6 Determining whether an obstruction is detected within a preset range of the unmanned vehicle, and determining the target location based on the obstruction and historical parking information includes:

[0052] S221. Determine whether an obstruction is detected within the preset range of the unmanned vehicle. The obstruction may specifically be a shading object, a rainproof object, etc., depending on the weather and environment in which the unmanned vehicle is located outdoors. It is understood that when the unmanned vehicle is in a certain position, it can typically collect environmental information within a certain range of that position. This certain range is variable and can be preset according to the actual situation and the performance of the unmanned vehicle; that is, a preset range. In other words, the preset range can be set according to the actual situation, for example, 40m. This disclosure does not specifically limit this range.

[0053] If an obstruction is detected, proceed to step S222. If no obstruction is detected, proceed to step S225.

[0054] S222. Determine the target location based on the detected location of the obstruction. Based on the location of the obstruction on the autonomous vehicle's navigation map, determine a target location within the lane, wherein the line connecting the target location and the obstruction is perpendicular to the direction of lane extension. The line connecting the target location and the obstruction is the same as the line connecting the target location and the center of the obstruction's point cloud.

[0055] S223. If the current time of the unmanned vehicle matches the available parking time period in the historical parking information, then the location closest to the unmanned vehicle between the parking location corresponding to the available parking time period and the target location is selected as the final location. For example, if the unmanned vehicle needs to park beside the lane at 15:25, the distances between the unmanned vehicle and the target location and the parking location corresponding to the available parking time period of 15:00-16:00 in the historical parking information are compared. If the parking location corresponding to the available parking time period of 15:00-16:00 in the historical parking information is closer to the target location, then the parking location corresponding to the available parking time period of 15:00-16:00 in the historical parking information is selected as the final location.

[0056] S224. Determine the final location as the final target location. That is, update the coordinates indicated by the target location to the coordinates corresponding to the final location. For example, when the parking location corresponding to the parking period of 15:00-16:00 in the historical parking information is taken as the final location, the parking location corresponding to the parking period of 15:00-16:00 in the historical parking information is taken as the final target location.

[0057] S225. The parking location corresponding to the most recent available parking time period of the unmanned vehicle in the historical parking information is determined as the final target location. For example: if the unmanned vehicle needs to park next to the lane outdoors at 12:30 and no obstruction is detected, the parking location corresponding to the available parking time period of 12:00 to 13:00 in the historical parking information is taken as the final target location.

[0058] S23. Plan a path according to the target location to control the unmanned vehicle to move towards the target location, and acquire the surface perception parameters of the unmanned vehicle in real time. Plan a path based on the current position of the unmanned vehicle and the target location to obtain a driving path to the target location; control the unmanned vehicle to drive according to the driving path so that the unmanned vehicle moves towards the target location; during the unmanned vehicle's movement towards the target location, acquire the surface perception parameters of the unmanned vehicle in real time through light sensors configured on the surface of the unmanned vehicle.

[0059] S24. When the surface perception parameters meet the docking conditions, control the unmanned vehicle to dock. When the surface perception parameters of the unmanned vehicle do not meet the docking conditions, then execute the step of determining whether an obstruction is detected within the preset range of the unmanned vehicle and subsequent steps, until the unmanned vehicle successfully docks or the number of times the loop is executed reaches the preset number.

[0060] In this embodiment of the invention, the parking positions of the unmanned vehicle are marked on the navigation map of the unmanned vehicle and associated with historical parking information, which includes the parking position and the corresponding available parking time period. It is determined whether an obstruction is detected within a preset range of the unmanned vehicle, and the final target position is determined based on the obstruction and the historical parking information. A path is planned according to the target position to control the unmanned vehicle to move towards the target position, and the surface perception parameters of the unmanned vehicle are acquired in real time. When the surface perception parameters meet the parking conditions, the unmanned vehicle is controlled to park. Through the above method, when an obstruction is detected, the nearest location is determined as the final target position based on the obstruction and the historical parking information; when no obstruction is detected, the unmanned vehicle can be parked at the parking position corresponding to the nearest available parking time period based on the historical parking information. This embodiment of the invention provides another option for the target position when selecting a suitable parking point for the unmanned vehicle in uncertain outdoor weather conditions, saving the unmanned vehicle's power and time costs.

[0061] Example 3

[0062] Please see Figure 7This invention provides an outdoor parking device 300, which includes:

[0063] The detection module 31 is used to determine whether an obstruction is detected within a preset range of the unmanned vehicle. It acquires point cloud data within a preset range on both sides of the lane where the unmanned vehicle is located using an image sensor and / or lidar; identifies object features based on the point cloud data; and if the object features are tree-shaped features, identifies objects corresponding to features whose size is greater than a preset threshold as the obstruction.

[0064] A determining module 32 is configured to determine a target location based on the location of an obstruction detected within a preset range of the autonomous vehicle. The target location is determined within a lane based on the position of the obstruction on the autonomous vehicle's navigation map, wherein the line connecting the target location and the obstruction is perpendicular to the direction of lane extension.

[0065] The first control module 33 is used to plan a path according to the target location to control the unmanned vehicle to move towards the target location, and to acquire the surface perception parameters of the unmanned vehicle in real time. The first control module 33 plans a path to the target location based on the current position of the unmanned vehicle and the target location; controls the unmanned vehicle to move according to the path to move towards the target location; and acquires the surface perception parameters of the unmanned vehicle in real time through a light sensor configured on the surface of the unmanned vehicle during the movement towards the target location.

[0066] The second control module 34 is used to control the unmanned vehicle to stop when the surface perception parameters meet the stopping conditions. When the surface perception parameters are less than a preset threshold, the unmanned vehicle meets the stopping conditions; acquires a ground image, and determines whether a sunlit area and a shaded area are identified based on the ground image; if a shaded area is identified, controls the unmanned vehicle to stop in the shaded area.

[0067] It should be noted that the above-described outdoor parking device can execute the outdoor parking method provided in the embodiments of the present invention, and has the corresponding functional modules and beneficial effects of the method. Technical details not described in detail in the embodiments of the outdoor parking device can be found in the outdoor parking method provided in the embodiments of the present invention.

[0068] Example 4

[0069] This invention also provides an unmanned vehicle, please refer to [link / reference]. Figure 8 It demonstrates the ability to execute Figures 1 to 6 The hardware structure of the unmanned vehicle for the outdoor parking method.

[0070] The unmanned vehicle 400 includes: at least one processor 41; and a memory 42 communicatively connected to the at least one processor 41. Figure 8 Taking a processor 41 as an example, the memory 42 stores instructions that can be executed by the at least one processor 41, and the instructions are executed by the at least one processor 41 to enable the at least one processor 41 to perform the outdoor parking method described in the above embodiments.

[0071] Processor 41 and memory 42 can be connected via a bus or other means. Figure 8 Taking the bus connection as an example, memory 42, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. Processor 41 executes various functional applications and data processing by running the non-volatile software programs, instructions, and modules stored in memory 42, thereby implementing the outdoor parking method in the above embodiment.

[0072] The memory 42 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created by the autonomous vehicle. Furthermore, the memory 42 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 42 may optionally include a memory 42 remotely located relative to the processor 41. These remote memories can be connected to the autonomous vehicle 400 via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0073] The one or more modules are stored in the memory 42, and when executed by the one or more processors 41, they execute the outdoor parking method in any of the above embodiments, for example, executing... Figures 1 to 8 The methods and steps in the text.

[0074] The above-described product can execute the outdoor parking method provided in the embodiments of the present invention and has the corresponding functional modules for executing the outdoor parking method. Technical details not described in detail in this embodiment can be found in the outdoor parking method provided in the embodiments of the present invention.

[0075] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented using software and a general-purpose hardware platform, or of course, using hardware. Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0076] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; under the concept of the present invention, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the present invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. An outdoor parking method for unmanned vehicles, characterized in that, include: The unmanned vehicle's parking location is marked on the navigation map and associated with it as historical parking information. The historical parking information includes the parking location and the available parking time period corresponding to the parking location. Determine whether an obstruction is detected within the preset range of the unmanned vehicle; If an obstruction is detected within the preset range of the unmanned vehicle, the target location is determined based on the location of the detected obstruction; if the current time of the unmanned vehicle matches the available parking time period in the historical parking information, the location closest to the unmanned vehicle is selected as the final location from the parking location corresponding to the available parking time period and the target location. The final location is determined as the final target location; If the obstruction cannot be detected, the parking location corresponding to the most recent available parking time period of the unmanned vehicle in the historical parking information will be determined as the final target location. The system plans a path based on the target location to control the unmanned vehicle to move toward the target location and acquires the surface perception parameters of the unmanned vehicle in real time. When the surface perception parameters meet the docking conditions, the unmanned vehicle is controlled to dock, including: when the surface perception parameters are less than a preset threshold, the unmanned vehicle meets the docking conditions; The system acquires ground images and determines whether sunlit and shaded areas are identified based on these images. If a shaded area is identified, the system controls the unmanned vehicle to stop in that shaded area.

2. The method according to claim 1, characterized in that, Determining whether an obstruction is detected within a preset range of the autonomous vehicle includes: Point cloud data within a preset range on both sides of the lane where the unmanned vehicle is located is obtained using image sensors and / or lidar. Object features are identified based on the point cloud data; If the object feature is a tree-shaped feature, then the object corresponding to the object feature whose size is greater than a preset threshold is determined as the occlusion.

3. The method according to claim 1, characterized in that, Determining the target location based on the detected location of the obstruction includes: Based on the location of the obstruction in the autonomous vehicle's navigation map, a target location within the lane is determined, wherein the line connecting the target location and the obstruction is perpendicular to the direction of the lane's extension.

4. The method according to claim 1, characterized in that, The surface sensing parameter is the light intensity; A path is planned based on the target location to control the unmanned vehicle to move towards the target location, and the surface perception parameters of the unmanned vehicle are acquired in real time, including: The driverless vehicle plans a path based on its current location and the target location to obtain a driving path to the target location. The driverless vehicle is controlled to travel according to the driving path so that it moves toward the target location; As the unmanned vehicle moves toward the target location, surface perception parameters of the unmanned vehicle are acquired in real time by light sensors configured on the surface of the unmanned vehicle.

5. The method according to claim 1, characterized in that, The method further includes: During the outdoor activities of the unmanned vehicle, the light intensity on the surface of the unmanned vehicle is acquired in real time; The light intensity is displayed on the display device of the unmanned vehicle and / or announced via voice to provide a warning to the user.

6. An unmanned vehicle, characterized in that, include: At least one processor; as well as, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the outdoor parking method according to any one of claims 1-5.

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