Guidance target-based parking method and guidance target-based parking system

Abstract

The present application relates to the field of vehicle control, in particular to a guiding target based parking method, a guiding target based parking system, a computer device implementing the method and a computer readable storage medium. The guiding target based parking method according to one aspect of the present application comprises the following steps: determining a guiding target and position information of the guiding target relative to a vehicle; locking the guiding target and following the guiding target based on the determined position information; and stopping following the guiding target and identifying a parking area of the vehicle in response to receiving a stop signal sent by the guiding target, so as to selectively perform an automatic parking operation based on the identified parking area of the vehicle.

Description

Technical Field

[0001] This invention relates to the field of vehicle control, and more specifically to a parking method based on a guidance target, a parking system based on a guidance target, a computer device for implementing the method, and a computer-readable storage medium. Background Technology

[0002] Automated parking technology is an indispensable technology in the field of intelligent driving. With the development of intelligent driving, simple automated parking next to a parking space can no longer meet the ever-expanding demand for automated parking, and valet parking technology has gradually become the mainstream research direction in the field of automated parking.

[0003] Compared to simple automatic parking technology, valet parking technology mainly solves the problem of automatic parking in the last mile, that is, the driver can get out of the car in advance and then park the vehicle in a designated or suitable location through certain methods.

[0004] Generally speaking, valet parking technology can be implemented in the following ways: First, by deploying various sensors and systems on the parking lot and the vehicle, the vehicle and the parking lot can have sufficient information interaction, and the vehicle can be automatically parked to a suitable position gradually based on certain algorithms and control technologies; Second, by using parking robots, which can take over the vehicle at the entrance of the parking lot, lift the vehicle and move it to the designated parking space and then put the vehicle down, thus realizing the valet parking process.

[0005] The above valet parking technologies have two main drawbacks: First, the investment cost is too high. For example, valet parking requires the deployment of various sensors and system equipment in parking lots and vehicles, while parking robot parking requires the deployment of parking robots in parking lots. Each parking robot is expensive, and a large number of parking robots need to be deployed in a single parking lot. Second, the applicable scenarios are limited. Due to the cost of deployment, valet parking and parking robots are only suitable for use in parking lots within a small area, and cannot be applied to all parking scenarios. Summary of the Invention

[0006] To overcome one or more of the above-mentioned drawbacks, the present invention provides the following technical solution.

[0007] According to a first aspect of the present invention, a parking method based on a guiding target is provided, comprising the steps of: determining a guiding target and position information of the guiding target relative to a vehicle; locking the guiding target based on the determined position information and following the guiding target; and stopping following the guiding target in response to receiving a stop signal from the guiding target and identifying a vehicle waiting area to selectively perform an automatic parking operation based on the identified vehicle waiting area.

[0008] According to an embodiment of the first aspect of the present invention, a parking method based on a guiding target is provided, wherein the guiding target is determined by a combination of one or more of the following operations: determining based on the characteristics of the guiding target, selecting the guiding target via a human-machine interface, and receiving the location information of the guiding target via a communication interface.

[0009] According to an embodiment of the first aspect of the present invention, a parking method based on a guiding target, wherein selectively performing automatic parking operations based on the identified vehicle waiting area further comprises: performing automatic parking operations in response to determining that the identified vehicle waiting area matches automatic parking conditions; and relocking the guiding target and following the guiding target in response to determining that the identified vehicle waiting area does not match the automatic parking conditions.

[0010] According to an embodiment of the first aspect of the present invention, a parking method based on a guided target, wherein the automatic parking operation includes one or more of the following operations: parking space recognition, environment judgment, position adjustment, path planning, and trajectory tracking.

[0011] According to a second aspect of the present invention, a parking system based on a guiding target is provided, comprising: a processing module configured to determine a guiding target and position information of the guiding target relative to a vehicle; a locking module configured to lock the guiding target based on the determined position information and follow the guiding target; and a control module configured to stop following the guiding target in response to receiving a stop signal from the guiding target and to identify a vehicle waiting area to selectively perform automatic parking operations based on the identified vehicle waiting area.

[0012] According to an embodiment of a second aspect of the present invention, a parking system based on a guidance target is provided, wherein the guidance target is determined by a combination of one or more of the following operations: determining based on features of the guidance target, selecting the guidance target via a human-machine interface, and receiving the location information of the guidance target via a communication interface.

[0013] According to an embodiment of a second aspect of the present invention, a parking system based on a guide target, wherein the control module is further configured to: perform an automatic parking operation in response to determining that the identified vehicle waiting area matches the automatic parking conditions; and control the locking module to relock the guide target and follow the guide target in response to determining that the identified vehicle waiting area does not match the automatic parking conditions.

[0014] According to an embodiment of a second aspect of the present invention, a parking system based on a guided target, wherein the automatic parking operation includes one or more of the following operations: parking space recognition, environment judgment, position adjustment, path planning, and trajectory tracking.

[0015] According to a third aspect of the invention, a computer device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement a parking method based on a guided target as described in any embodiment of the first aspect of the invention.

[0016] According to a fourth aspect of the present invention, a computer-readable storage medium is provided having a computer program stored thereon, wherein the program, when executed by a processor, implements the parking method based on a guided target as described in any embodiment of the first aspect of the present invention.

[0017] According to one or more aspects of the present invention, a parking method and system based on a guiding target, as described above, can be used. When there is a certain distance between the vehicle and the parking space, the vehicle locks onto the guiding target and follows the guiding target to park the vehicle in a suitable position. After parking, the vehicle automatically shuts off and locks. The entire parking process does not require human intervention, thereby expanding the application scenarios of automatic parking and reducing the cost of parking equipment. In addition, the efficiency and accuracy of parking are also improved.

[0018] By incorporating the figures in this article and subsequently the accompanying figures Figure One The specific embodiments used to illustrate certain principles of the invention will make other features and advantages of the methods and systems of the invention clearer or more apparent. Attached Figure Description

[0019] The above and / or other aspects and advantages of the present invention will become clearer and more readily understood from the following description taken in conjunction with the accompanying drawings, in which like or similar elements are denoted by the same reference numerals. The drawings include:

[0020] Figure 1 This is a flowchart of a parking method based on a guiding target according to an embodiment of the present invention.

[0021] Figure 2 This is a flowchart of a parking method based on a guiding target according to another embodiment of the present invention.

[0022] Figure 3 This is a schematic diagram of a parking system based on a guiding target according to an embodiment of the present invention.

[0023] Figure 4This is a schematic diagram of a parking system based on a guided target according to another embodiment of the present invention.

[0024] Figure 5 This is a schematic block diagram of a computer device according to an embodiment of the present invention. Detailed Implementation

[0025] In this specification, the invention is described more fully with reference to the accompanying drawings, which illustrate exemplary embodiments of the invention. However, the invention may be implemented in various forms and should not be construed as being limited to the embodiments given herein. The given embodiments are intended to make the disclosure herein complete and thorough, so as to more fully convey the scope of protection of the invention to those skilled in the art.

[0026] Terms such as "comprising" and "including" indicate that, in addition to the units and steps that are directly and explicitly stated in the specification, the technical solution of the present invention does not exclude the presence of other units and steps that are not directly or explicitly stated. Terms such as "first" and "second" do not indicate the order of the units in terms of time, space, size, etc., but are merely used to distinguish the units.

[0027] The invention is described below with reference to flowchart illustrations, block diagrams, and / or flowcharts of methods and systems according to embodiments of the invention. It will be understood that each block of these flowchart illustrations and / or block diagrams, and combinations thereof, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to constitute a machine, such that these instructions, executable by the processor of the computer or other programmable data processing apparatus, create components for implementing the functions / operations specified in these flowchart illustrations and / or blocks and / or one or more flowchart illustrations.

[0028] Figure 1 This is a flowchart of a parking method based on a guiding target according to an embodiment of the present invention.

[0029] like Figure 1 As shown, in step 110, a guidance target and its position information relative to the vehicle are determined. Optionally, the guidance target includes a moving object, a positioning signal emitted by the moving object, or a combination of both. For example, the guidance target may include, but is not limited to, positioning signals emitted by a person, robot, vehicle, or physical object, thereby expanding the application scenarios of the parking method based on a guidance target according to an embodiment of the present invention. Optionally, the guidance target is determined by a combination of one or more of the following operations: determining based on the characteristics of the guidance target, selecting the guidance target via a human-machine interface, and receiving the position information of the guidance target via a communication interface.

[0030] In one implementation, when a driver enters a desired parking area (e.g., a parking lot), the confirmation of the guiding target can be activated. Through certain guiding target feature recognition technology or through interaction between the guiding target and the vehicle, the vehicle can determine the guiding target and its coordinates relative to the vehicle. The methods for determining the guiding target may include, but are not limited to, one or more combinations of the following operations: automatically confirming the guiding target by recognizing specific features (e.g., headlight indicators, gesture indicators, etc.) of the guiding target via front sensors (e.g., forward-view camera, LiDAR, etc.); selecting and confirming the guiding target via a human-machine interface (e.g., manually locking onto a person, object, etc. within the field of view as the guiding target); or receiving the location information (e.g., coordinate information, etc.) of the guiding target via wired or wireless communication devices.

[0031] In step 120, the guide target is locked based on the determined location information and the guide target is followed.

[0032] In one implementation, the vehicle identifies the road space based on sensors around the vehicle body, locks onto the guiding target based on real-time positioning information and interactive operations between the vehicle and the guiding target, and follows the guiding target at low speed based on the identified road space. During this process, the vehicle maintains contact with the guiding target and performs basic functions such as optimal planning, vehicle control, and obstacle avoidance.

[0033] In step 130, in response to receiving a stop signal from the guiding target, the vehicle stops following the guiding target and identifies a vehicle waiting area to selectively perform an automatic parking operation based on the identified vehicle waiting area. Optionally, selectively performing an automatic parking operation based on the identified vehicle waiting area further includes: performing an automatic parking operation in response to determining that the identified vehicle waiting area matches the automatic parking conditions; and relocking the guiding target and following the guiding target in response to determining that the identified vehicle waiting area does not match the automatic parking conditions. Optionally, the automatic parking operation includes one or more of the following operations: parking space recognition, environmental judgment, position adjustment, path planning, and trajectory tracking.

[0034] In one implementation, the guiding target issues a stop signal in front of the parking space. Upon receiving the stop signal from the guiding target, the vehicle stops following the guiding target and, based on vehicle sensors, detects the parking space and the surrounding environment to determine whether the parking space is suitable for automatic parking. If the parking space is suitable for automatic parking, the automatic parking operation is performed, including vehicle adjustments and path planning, and automatic control of the vehicle's brakes, accelerator, steering wheel, and gears for trajectory tracking until the vehicle is parked. After parking, the vehicle can deactivate the guided parking function and automatically shut off and lock. If the parking space is not suitable for automatic parking, the guiding target is instructed to continue searching for a parking space, and the vehicle re-locks onto the guiding target and follows it.

[0035] Those skilled in the art will understand that, without departing from the scope and spirit of this disclosure, the above-described parking method based on guiding objectives can also be applied to other, broader parking scenarios beyond parking lots.

[0036] The aforementioned parking method based on a guided target, when applied to automated parking, can, to some extent, replace the parking operations that would otherwise require driver intervention, thereby improving the user experience. This method works by locking onto and following a guided target when there is a certain distance between the vehicle and the desired parking location, ultimately parking the vehicle in the appropriate spot. After parking, the vehicle automatically shuts off and locks. The entire parking process requires no human intervention, thus expanding the application scenarios of automated parking and reducing the cost of parking equipment. Furthermore, parking efficiency and accuracy are also improved.

[0037] Figure 2 This is a flowchart of a parking method based on a guiding target according to another embodiment of the present invention.

[0038] In step 210, the guiding target is confirmed. Optionally, the guiding target may be determined by means of one or more of the following operations: automatically confirming the guiding target by identifying specific features of the guiding target (e.g., headlight indicators, gesture indicators, etc.) via a vehicle front sensor (e.g., a forward-view camera, LiDAR, etc.); selecting and confirming the guiding target via a human-machine interface (e.g., manually locking a person or object in the field of view as the guiding target); or receiving the location information (e.g., coordinate information, etc.) of the guiding target via a wired or wireless communication device.

[0039] In step 220, the vehicle performs short-segment autonomous driving on the road space, following the guided target. In one embodiment, the vehicle identifies the road space based on sensors around the vehicle and locks onto the guided target based on real-time positioning information and interactive operations between the vehicle and the guided target. The vehicle then follows the guided target at low speed based on the identified road space. Throughout this process, the vehicle maintains contact with the guided target and performs basic functions such as optimal planning, vehicle control, and obstacle avoidance.

[0040] In step 230, during the following process, it is detected whether the guiding target has issued a stop signal. When no stop signal is detected from the guiding target, the vehicle always locks onto the guiding target and follows it, performing basic functions such as optimal planning, vehicle control, and obstacle avoidance during the journey; when a stop signal is detected from the guiding target, the process proceeds to step 240.

[0041] In step 240, the vehicle stops following the guidance target and performs parking space detection and surrounding environment detection based on the vehicle body sensors to identify whether the vehicle waiting area is suitable for automatic parking operation.

[0042] In step 250, if it is determined that the identified vehicle waiting area meets the automatic parking conditions, proceed to step 270 to perform the automatic parking operation; if it is determined that the identified vehicle waiting area does not meet the automatic parking conditions, proceed to step 260 to relock the guidance target and follow the guidance target to perform a short segment of automatic driving again until a stop signal is received from the guidance target. Optionally, the automatic parking operation includes one or more of the following operations: parking space recognition, environmental judgment, position adjustment, path planning, and trajectory tracking.

[0043] Figure 3 This is a schematic diagram of a parking system based on a guiding target according to an embodiment of the present invention.

[0044] like Figure 3 As shown, the target-based parking system 30 includes: a processing module 310 configured to determine a target and position information of the target relative to a vehicle; a locking module 320 configured to lock the target based on the determined position information and follow the target; and a control module 330 configured to stop following the target in response to receiving a stop signal from the target and identify a vehicle waiting area to selectively perform automatic parking operations based on the identified vehicle waiting area.

[0045] Optionally, the guidance target includes a moving object, a positioning signal emitted by the moving object, or a combination of both. For example, the guidance target may include, but is not limited to, positioning signals emitted by a person, robot, vehicle, or physical object, thereby expanding the application scenarios of the parking method based on the guidance target according to an embodiment of the present invention. Optionally, the guidance target is determined by a combination of one or more of the following operations: determining based on the characteristics of the guidance target, selecting the guidance target via a human-machine interface, and receiving the location information of the guidance target via a communication interface.

[0046] In one implementation, when a driver enters a desired parking area (e.g., a parking lot), the confirmation of the guiding target can be activated. Through certain guiding target feature recognition technology or through interaction between the guiding target and the vehicle, the vehicle can determine the guiding target and its coordinates relative to the vehicle. The methods for determining the guiding target may include, but are not limited to, one or more combinations of the following operations: automatically confirming the guiding target by recognizing specific features (e.g., headlight indicators, gesture indicators, etc.) of the guiding target via front sensors (e.g., forward-view camera, LiDAR, etc.); selecting and confirming the guiding target via a human-machine interface (e.g., manually locking onto a person, object, etc. within the field of view as the guiding target); or receiving the location information (e.g., coordinate information, etc.) of the guiding target via wired or wireless communication devices.

[0047] In one implementation, the vehicle identifies the road space based on sensors around the vehicle body, locks onto the guiding target based on real-time positioning information and interactive operations between the vehicle and the guiding target, and follows the guiding target at low speed based on the identified road space. During this process, the vehicle maintains contact with the guiding target and performs basic functions such as optimal planning, vehicle control, and obstacle avoidance.

[0048] Optionally, the control module 330 is further configured to: perform an automatic parking operation in response to determining that the identified vehicle waiting area matches the automatic parking conditions; and control the module 320 to relock the guide target and follow the guide target in response to determining that the identified vehicle waiting area does not match the automatic parking conditions. Optionally, the automatic parking operation includes one or more of the following operations: parking space recognition, environmental judgment, position adjustment, path planning, and trajectory tracking.

[0049] In one implementation, the guiding target issues a stop signal in front of the parking space. Upon receiving the stop signal from the guiding target, the vehicle stops following the guiding target and, based on vehicle sensors, detects the parking space and the surrounding environment to determine whether the parking space is suitable for automatic parking. If the parking space is suitable for automatic parking, the automatic parking operation is performed, including vehicle adjustments and path planning, and automatic control of the vehicle's brakes, accelerator, steering wheel, and gears for trajectory tracking until the vehicle is parked. After parking, the vehicle can deactivate the guided parking function and automatically shut off and lock. If the parking space is not suitable for automatic parking, the guiding target is instructed to continue searching for a parking space, and the vehicle re-locks onto the guiding target and follows it.

[0050] Those skilled in the art will understand that, without departing from the scope and spirit of this disclosure, the above-described parking system based on guiding objectives can also be applied to other, broader parking scenarios beyond parking lots.

[0051] The aforementioned target-based parking system, when applied to automated parking, can, to some extent, replace the parking maneuvers that would otherwise require driver intervention, thus improving the user experience. When there is a certain distance between the vehicle and the desired parking location, the system locks onto the target and follows it to park the vehicle in the appropriate spot. After parking, the vehicle automatically shuts off and locks. The entire parking process requires no human intervention, thereby expanding the application scenarios of automated parking and reducing the cost of parking equipment. Furthermore, parking efficiency and accuracy are also improved.

[0052] Figure 4 This is a schematic diagram of a parking system based on a guided target according to another embodiment of the present invention.

[0053] like Figure 4As shown, a parking system 40 based on a guided target according to another embodiment of the present invention includes: a forward-facing camera 410 for identifying and tracking a guided target, and detecting road space and obstacles; a human-machine interface 420 for human-machine interaction to enable the driver to select and determine the guided target; a sensor unit 430, which may include, but is not limited to, millimeter-wave radar, lidar, etc., to improve the accuracy of environmental detection; a side camera 440 for detecting parking spaces; a processing unit 450 for controlling the vehicle to follow the guided target for short-term autonomous driving and to perform automatic parking operations based on the detected road space and obstacles, the detected parking spaces, and the determined guided target; and a vehicle control unit 460 for implementing functions such as braking, steering, acceleration, deceleration, and gear shifting of the vehicle to achieve short-term autonomous driving and automatic parking operations by following the guided target.

[0054] Optionally, in the target-based parking system 40, ultrasonic waves around the vehicle can be used for obstacle detection and parking space detection.

[0055] Figure 5 This is a schematic block diagram of a computer device 50 according to an embodiment of the present invention. The computer device includes a memory 510, a processor 520, and a computer program 530 stored in the memory and executable on the processor. The processor 520 executes the computer program 530 to implement the above-described parking method based on a guiding target.

[0056] According to another aspect of the invention, a computer-readable storage medium is also provided, on which a computer program is stored, which, when executed by a processor, can implement the above-described parking method based on a guiding target.

[0057] The embodiments and examples presented herein are provided to best illustrate embodiments according to the present technology and its particular applications, thereby enabling those skilled in the art to practice and use the invention. However, those skilled in the art will understand that the above description and examples are provided merely for ease of illustration and example. The descriptions presented are not intended to cover all aspects of the invention or to limit the invention to the precise forms disclosed.

Claims

1. A parking method based on a guiding target, characterized in that, Includes the following steps: Determine the guidance target and its position information relative to the vehicle; Based on the determined vehicle location information, the guide target is locked and followed. as well as In response to receiving a stop signal from the guided target, the vehicle stops following the guided target and identifies a parking area for the vehicle, selectively performing automatic parking operations based on the identified parking area. The method further includes: In response to receiving a stop signal from the guiding target, the vehicle stops following the guiding target and performs parking space detection and surrounding environment detection based on vehicle body sensors to determine whether the parking space is suitable for automatic parking operation. If it is determined that the parking space is suitable for automatic parking, then the automatic parking operation is performed. If it is determined that the parking space is not suitable for automatic parking, then the guide target is instructed to continue searching for parking spaces and the guide target is re-locked and followed.

2. The method of claim 1, wherein the guidance target is determined by a combination of one or more of the following operations: determining based on features of the guidance target, selecting the guidance target via a human-machine interface, and receiving location information of the guidance target via a communication interface.

3. The method of claim 1, wherein selectively performing automatic parking operations based on the identified vehicle waiting area further comprises: Automatic parking operation is performed in response to determining that the identified vehicle waiting area matches the automatic parking conditions; as well as In response to determining that the identified vehicle waiting area does not match the automatic parking conditions, the guide target is re-locked and the vehicle follows the guide target.

4. The method according to claim 1, wherein the automatic parking operation includes one or more of the following operations: parking space recognition, environment judgment, position adjustment, path planning, and trajectory tracking.

5. A parking system based on a guided target, characterized in that, include: The processing module is configured to determine the guidance target and the position information of the guidance target relative to the vehicle; A locking module configured to lock onto the guide target based on determined vehicle location information and follow the guide target. as well as The control module is configured to stop following the guiding target in response to receiving a stop signal from the guiding target and to identify a vehicle waiting area, so as to selectively perform automatic parking operations based on the identified vehicle waiting area. The control module is further configured to: In response to receiving a stop signal from the guiding target, the vehicle stops following the guiding target and performs parking space detection and surrounding environment detection based on vehicle body sensors to determine whether the parking space is suitable for automatic parking operation. If it is determined that the parking space is suitable for automatic parking, then the automatic parking operation is performed. If it is determined that the parking space is not suitable for automatic parking, then the guide target is instructed to continue searching for parking spaces and the locking module is controlled to relock the guide target and follow the guide target.

6. The system of claim 5, wherein the guidance target is determined by a combination of one or more of the following operations: determining based on features of the guidance target, selecting the guidance target via a human-machine interface, and receiving location information of the guidance target via a communication interface.

7. The system according to claim 5, wherein the control module is further configured to: In response to determining that the identified vehicle waiting area matches the automatic parking conditions, an automatic parking operation is performed; and In response to determining that the identified vehicle waiting area does not match the automatic parking conditions, the locking module is controlled to relock the guide target and follow the guide target.

8. The system according to claim 5, wherein the automatic parking operation includes one or more of the following operations: parking space recognition, environment judgment, position adjustment, path planning, and trajectory tracking.

9. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The processor executes the computer program to achieve: The parking method based on a guided target as described in any one of claims 1-4.

10. A computer-readable storage medium storing a computer program thereon, characterized in that, The computer program can be implemented when executed by a processor: The parking method based on a guided target as described in any one of claims 1-4.

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