Method, apparatus, and intelligent driving device for controlling a vehicle to drive out of a parking space

Abstract

The present application provides a method, an apparatus, and an intelligent driving device for controlling a vehicle to drive out of a parking space. The method includes: determining whether there are other vehicles driving on the lane in front of the target vehicle; in the case that there are other vehicles driving on the lane in front of the target vehicle, obtaining a first relationship, a second relationship, and a third relationship between the target vehicle and the other vehicles, and determining a path for the target vehicle to drive out of the target parking space according to the first relationship, the second relationship, and the third relationship. The present application solves the problem of ensuring the efficiency and safety of the vehicle's own driving while not affecting the vehicles driving on the lane when an intelligent vehicle drives out of a parking space.

Description

Technical Field

[0001] The present application relates to the field of vehicle driving. Specifically, it relates to a method, a device, a storage medium, and an intelligent driving device for controlling a vehicle to drive out of a parking space. Background Art

[0002] Currently, there is little research on the decision-making of intelligent vehicles driving out of parking spaces. Some existing solutions drive out of the parking space when there are no other vehicles in front of the vehicle; some other solutions stop and wait when there are other vehicles until the other vehicles have passed and then drive out of the parking space. Although the existing technical solutions can ensure the safety of the vehicle when driving out of the parking space, they lack specific descriptions and quantitative analyses and cannot guarantee the driving efficiency of the vehicle. Summary of the Invention

[0003] The main object of the present application is to provide a method, a device, a storage medium, and an intelligent driving device for controlling a vehicle to drive out of a parking space, so as to solve the problem in the prior art that when an intelligent vehicle drives out of a parking space, while not affecting the vehicles driving on the lane, the driving efficiency and safety of the vehicle itself are ensured.

[0004] To achieve the above object, according to one aspect of the present application, a method for controlling a vehicle to drive out of a parking space is provided. The method includes: determining whether there are other vehicles driving on the lane in front of the target vehicle; in the case that there are other vehicles driving on the lane in front of the target vehicle, obtaining a first relationship, a second relationship, and a third relationship between the target vehicle and the other vehicles, and determining a path for the target vehicle to drive out of the target parking space according to the first relationship, the second relationship, and the third relationship. The first relationship is the positional relationship between the lane that the target vehicle intends to enter and the lane on which the other vehicle is driving, the second relationship is the positional relationship between the target vehicle and the other vehicle, and the third relationship is the distance relationship between the target vehicle and the other vehicle.

[0005] Optionally, determining the path for the target vehicle to drive out of the target parking space according to the first relationship, the second relationship, and the third relationship includes one of the following: When the lane where the target vehicle intends to drive into is the same as the lane where the other vehicle is driving, the other vehicle has not passed the target parking space, and the distance between the target vehicle and the other vehicle is greater than a preset distance, controlling the target vehicle to immediately drive out of the target parking space; When the lane where the target vehicle intends to drive into is the same as the lane where the other vehicle is driving, the other vehicle has not passed the target parking space, and the distance between the target vehicle and the other vehicle is less than or equal to the preset distance, controlling the target vehicle not to immediately drive out of the target parking space; When the lane where the target vehicle intends to drive into is the same as the lane where the other vehicle is driving, the other vehicle is driving in front of the target parking space or has passed the target parking space, and the distance between the target vehicle and the other vehicle is greater than the preset distance, controlling the target vehicle to immediately drive out of the target parking space; When the lane where the target vehicle intends to drive into is the same as the lane where the other vehicle is driving, the other vehicle is driving in front of the target parking space or has passed the target parking space, and the distance between the target vehicle and the other vehicle is less than or equal to the preset distance, controlling the target vehicle not to immediately drive out of the target parking space; When the lane where the target vehicle intends to drive into is a lane away from the target parking space and the lane where the other vehicle is driving is a lane close to the target parking space, the other vehicle has not passed the target parking space, and the distance between the target vehicle and the other vehicle is greater than the preset distance, controlling the target vehicle to immediately drive out of the target parking space; When the lane where the target vehicle intends to drive into is a lane away from the target parking space and the lane where the other vehicle is driving is a lane close to the target parking space, the other vehicle has not passed the target parking space, and the distance between the target vehicle and the other vehicle is less than or equal to the preset distance, controlling the target vehicle not to immediately drive out of the target parking space; When the lane where the target vehicle intends to drive into is a lane away from the target parking space and the lane where the other vehicle is driving is a lane close to the target parking space, the other vehicle is driving in front of the target parking space or has passed the target parking space, and the distance between the target vehicle and the other vehicle is greater than the preset distance, controlling the target vehicle to immediately drive out of the target parking space; When the lane where the target vehicle intends to drive into is a lane away from the target parking space and the lane where the other vehicle is driving is a lane close to the target parking space, the other vehicle is driving in front of the target parking space or has passed the target parking space, and the distance between the target vehicle and the other vehicle is less than or equal to the preset distance, controlling the target vehicle not to immediately drive out of the target parking space;When the lane that the target vehicle intends to drive into is the lane close to the target parking space and the lane where the other vehicle is driving is the lane far from the target parking space, control the target vehicle to immediately drive out of the target parking space.

[0006] Optionally, the method further includes: when the lane that the target vehicle intends to drive into is the same lane as the lane where the other vehicle is driving and the other vehicle has not passed the target parking space, determining whether the distance between the target vehicle and the other vehicle is greater than the preset distance; wherein, determining whether the distance between the target vehicle and the other vehicle is greater than the preset distance includes: according to the first formula, determining whether the distance between the target vehicle and the other vehicle is greater than the preset distance: a = D 01 +d z1 -d q1 -d a1 wherein, t 11 is the time taken for the target vehicle to drive into the same lane as the other vehicle, D 01 is the distance between the target vehicle when it is not moving and the other vehicle in the axial direction parallel to the lane, d a1 is the preset distance, d z1 is the distance traveled by the target vehicle in the axial direction within time t 11 , d q1 is the distance traveled by the other vehicle in the axial direction within time t 11 ; when a > 0, determine that the distance between the target vehicle and the other vehicle is greater than the preset distance; when a ≤ 0, determine that the distance between the target vehicle and the other vehicle is less than or equal to the preset distance.

[0007] Optionally, the method further includes: when the lane that the target vehicle intends to drive into is the same lane as the lane where the other vehicle is driving and the other vehicle is driving in front of the target parking space or has passed the target parking space, determining whether the distance between the target vehicle and the other vehicle is greater than the preset distance; wherein, determining whether the distance between the target vehicle and the other vehicle is greater than the preset distance includes: according to the second formula, determining whether the distance between the target vehicle and the other vehicle is greater than the preset distance: a = D z1 -d z2 +d q2 -d a2 wherein, t 21 is the time taken for the target vehicle to drive into the same lane as the other vehicle, D z1 is the distance between the target vehicle when it is not moving and the other vehicle in the axial direction parallel to the lane, d a2is the preset distance, d z2 is the distance traveled by the target vehicle in the axial direction within time t 21 d q2 is the distance traveled by the other vehicle in the axial direction within time t 21 d; when a > 0, it is determined that the distance between the target vehicle and the other vehicle is greater than the preset distance; when a ≤ 0, it is determined that the distance between the target vehicle and the other vehicle is less than or equal to the preset distance.

[0008] Optionally, the method further includes: when the lane the vehicle intends to enter is a lane away from the target parking space and the lane the other vehicle is traveling in is a lane close to the target parking space, and the other vehicle has not passed the target parking space, determining whether the distance between the target vehicle and the other vehicle is greater than the preset distance: according to the third formula, determining whether the distance between the target vehicle and the other vehicle is greater than the preset distance: a = D 02 -d z3 -d q3 -d a3 where t 12 is the time taken for the target vehicle to enter the same lane as the other vehicle, D 02 is the distance between the target vehicle when it is not moving and the other vehicle in the axial direction parallel to the lane, d a3 is the preset distance, d z3 is the distance traveled by the target vehicle in the axial direction within time t 12 d q3 is the distance traveled by the other vehicle in the axial direction within time t 12 d; when a > 0, it is determined that the distance between the target vehicle and the other vehicle is greater than the preset distance; when a ≤ 0, it is determined that the distance between the target vehicle and the other vehicle is less than or equal to the preset distance.

[0009] Optionally, the method further includes: when the lane the vehicle intends to enter is a lane away from the target parking space and the lane the other vehicle is traveling in is a lane close to the target parking space, and the other vehicle is traveling in front of the target parking space or has passed the target parking space, determining whether the distance between the target vehicle and the other vehicle is greater than the preset distance, including: according to the fourth formula, determining whether the distance between the target vehicle and the other vehicle is greater than the preset distance: a = D z2 +d z4 +d q4 -d a4 where t 22is the time taken for the target vehicle to enter the same lane as the other vehicle, D z2 is the distance between the target vehicle when it is not moving and the other vehicle in the axial direction parallel to the lane, d a4 is the preset distance, d z4 is the distance traveled by the target vehicle in the axial direction at time t 22 d q4 is the distance traveled by the other vehicle in the axial direction at time t 22 ; when a > 0, it is determined that the distance between the target vehicle and the other vehicle is greater than the preset distance; when a ≤ 0, it is determined that the distance between the target vehicle and the other vehicle is less than or equal to the preset distance.

[0010] According to another aspect of the present application, there is provided a device for controlling a vehicle to drive out of a parking space. The device includes a determination unit and an acquisition unit. The determination unit is configured to determine whether there is another vehicle driving on the lane in front of the target vehicle; the acquisition unit is configured to, when there is another vehicle driving on the lane in front of the target vehicle, acquire a first relationship, a second relationship, and a third relationship between the target vehicle and the other vehicle, and determine a path for the target vehicle to drive out of the target parking space according to the first relationship, the second relationship, and the third relationship. The first relationship is the positional relationship between the lane that the target vehicle intends to enter and the lane that the other vehicle is driving on, the second relationship is the positional relationship between the target vehicle and the other vehicle, and the third relationship is the distance relationship between the target vehicle and the other vehicle.

[0011] According to another aspect of the present application, there is provided a computer-readable storage medium. The computer-readable storage medium includes a stored program. When the program runs, it controls the device where the computer-readable storage medium is located to execute any one of the above methods.

[0012] According to another aspect of the present application, there is provided an intelligent driving device, including: one or more memories, a display device, and one or more programs. The one or more programs are stored in the memory and are configured to be executed by the one or more. The one or more programs include a method for executing any one of the above methods for controlling a vehicle to drive out of a parking space.

[0013] Applying the technical solution of the present application, it is determined whether there are other vehicles driving on the lane in front of the target vehicle; when there are other vehicles driving on the lane in front of the target vehicle, the first relationship, the second relationship and the third relationship between the target vehicle and the other vehicle are obtained, and the path for the target vehicle to drive out of the target parking space is determined according to the first relationship, the second relationship and the third relationship. The first relationship is the positional relationship between the lane that the target vehicle intends to drive into and the lane that the other vehicle is driving on, the second relationship is the positional relationship between the target vehicle and the other vehicle, and the third relationship is the distance relationship between the target vehicle and the other vehicle. This enables intelligent vehicles to make more optimal and efficient decisions when driving out of the parking space, and solves the problem in the prior art that when an intelligent vehicle drives out of the parking space, while not affecting the vehicles driving on the lane, it ensures the efficiency and safety of its own vehicle's driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The schematic diagrams in the specification forming a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation to the present application. In the drawings:

[0015] Figure 1 shows a schematic diagram of a method for controlling a vehicle to drive out of a parking space according to an embodiment of the present application;

[0016] Figure 2 shows schematic diagrams of various situations of a vehicle driving out of a parking space according to an embodiment of the present application.

[0017] Figure 3 shows a schematic diagram of a vehicle model according to an embodiment of the present application;

[0018] Figure 4 shows a schematic diagram of the positional relationship where both the lane that the target vehicle intends to drive into and the lane that the other vehicle is driving on are lanes close to the target parking space, and the other vehicle has not passed the target vehicle;

[0019] Figure 5 shows a schematic diagram of the positional relationship where both the lane that the target vehicle intends to drive into and the lane that the other vehicle is driving on are lanes far from the target parking space, and the other vehicle has not passed the target vehicle;

[0020] Figure 6 shows a schematic diagram of a mathematical model of the positional relationship where the lane that the target vehicle intends to drive into is the same as the lane that the other vehicle is driving on, and the other vehicle has not passed the target vehicle;

[0021] Figure 7The schematic diagram of the positional relationship shows that the lane where the target vehicle intends to drive into is a lane far from the target parking space, the lane where other vehicles are driving is a lane close to the target parking space, and the other vehicles have not passed the position of the target vehicle according to an embodiment of the present application;

[0022] Figure 8 The schematic diagram of the mathematical model shows that the lane where the target vehicle intends to drive into is a lane far from the target parking space, the lane where other vehicles are driving is a lane close to the target parking space, and the other vehicles have not passed the position of the target vehicle according to an embodiment of the present application;

[0023] Figure 9 The schematic diagram of the mathematical model shows that the lane where the target vehicle intends to drive into is the same as the lane where other vehicles are driving, and the other vehicles have passed the position of the target vehicle according to an embodiment of the present application;

[0024] Figure 10 The schematic diagram of the mathematical model shows that the lane where the target vehicle intends to drive into is a lane far from the target parking space, the lane where other vehicles are driving is a lane close to the target parking space, and the other vehicles have passed the position of the target vehicle according to an embodiment of the present application;

[0025] Figure 11 The schematic diagram of the positional relationship shows that the lane where the target vehicle intends to drive into is a lane close to the target parking space, the lane where other vehicles are driving is a lane far from the target parking space according to an embodiment of the present application;

[0026] Figure 12 The schematic diagram of a system according to an embodiment of the present application is shown;

[0027] Figure 13 The schematic diagram of the device for controlling a vehicle to drive out of a parking space according to an embodiment of the present application is shown. Detailed implementation manners

[0028] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0029] In order to enable those skilled in the art to better understand the solution of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0030] It should be noted that the terms "first", "second", etc. in the description, claims and the above-mentioned drawings of this application are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such data used can be interchanged under appropriate circumstances for the embodiments of this application described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0031] It should be understood that when an element (such as a layer, film, region, or substrate) is described as being "on" another element, the element can be directly on the other element, or there can also be an intermediate element. Moreover, in the description and claims, when an element is described as "connected" to another element, the element can be "directly connected" to the other element, or "connected" to the other element through a third element.

[0032] As introduced in the background art, although the prior art can ensure the safety when a vehicle exits a parking space, it lacks specific descriptions and quantitative analyses and cannot ensure the driving efficiency of the vehicle. To solve the problem in the prior art that when an intelligent vehicle exits a parking space, it can ensure the efficiency and safety of its own vehicle while not affecting the vehicles driving on the lane, embodiments of this application provide a method, device, storage medium and intelligent driving device for controlling a vehicle to exit a parking space.

[0033] According to an embodiment of this application, there is provided a method for controlling a vehicle to exit a parking space, and this method can be applied to the scenario of an intelligent vehicle exiting a parking space.

[0034] Figure 1 is a schematic diagram of the method for controlling a vehicle to exit a parking space according to an embodiment of this application, as Figure 1 shown, this method includes the following steps:

[0035] Step S101, determine whether there are other vehicles driving on the lane in front of the target vehicle;

[0036] In an alternative embodiment, when there are no other vehicles driving on the lane in front of the target vehicle, control the target vehicle to immediately exit the target parking space.

[0037] Step S102, when there are other vehicles driving in the lane in front of the target vehicle, obtain the first relationship, the second relationship, and the third relationship between the target vehicle and the other vehicle, and determine the path for the target vehicle to drive out of the target parking space according to the first relationship, the second relationship, and the third relationship. The first relationship is the positional relationship between the lane that the target vehicle intends to drive into and the lane that the other vehicle is driving in. The second relationship is the positional relationship between the target vehicle and the other vehicle. The third relationship is the distance relationship between the target vehicle and the other vehicle.

[0038] To improve the safety and efficiency of the target vehicle driving out of the parking space, as Figure 2 shown, in one embodiment, determining the path for the target vehicle to drive out of the target parking space according to the first relationship, the second relationship, and the third relationship includes one of the following:

[0039] When the lane that the target vehicle intends to drive into and the lane that the other vehicle is driving in are the same lane, the other vehicle has not passed the target parking space, and the distance between the target vehicle and the other vehicle is greater than a preset distance, control the target vehicle to immediately drive out of the target parking space;

[0040] When the lane that the target vehicle intends to drive into and the lane that the other vehicle is driving in are the same lane, the other vehicle has not passed the target parking space, and the distance between the target vehicle and the other vehicle is less than or equal to the preset distance, control the target vehicle not to immediately drive out of the target parking space;

[0041] To more accurately calculate the relationship between the target vehicle and other vehicles and improve the efficiency and safety of the target vehicle driving out of the parking space, specifically, when the lane that the target vehicle intends to drive into and the lane that the other vehicle is driving in are the same lane, and the other vehicle has not passed the target parking space, determine whether the distance between the target vehicle and the other vehicle is greater than the preset distance; among them, determining whether the distance between the target vehicle and the other vehicle is greater than the preset distance includes:

[0042] According to the first formula, determine whether the distance between the target vehicle and the other vehicle is greater than the preset distance, as shown in Formula 1:

[0043] a = D 01 +d z1 -d q1 -d a1 (Formula 1)

[0044] where, t 11 is the time taken for the target vehicle to drive into the same lane as the other vehicle, D01 is the distance between the target vehicle and the other vehicle in the axial direction parallel to the lane when the target vehicle is not moving, d a1 is the preset distance, d z1 is the distance traveled by the target vehicle in the axial direction at time t 11 d q1 is the distance traveled by the other vehicle in the axial direction at time t 11 d;

[0045] When a > 0, it is determined that the distance between the target vehicle and the other vehicle is greater than the preset distance;

[0046] When a ≤ 0, it is determined that the distance between the target vehicle and the other vehicle is less than or equal to the preset distance.

[0047] When the lane that the target vehicle intends to enter is the same as the lane that the other vehicle is traveling in, the other vehicle is traveling in front of the target parking space or has passed the target parking space, and the distance between the target vehicle and the other vehicle is greater than the preset distance, control the target vehicle to immediately drive out of the target parking space;

[0048] When the lane that the target vehicle intends to enter is the same as the lane that the other vehicle is traveling in, the other vehicle is traveling in front of the target parking space or has passed the target parking space, and the distance between the target vehicle and the other vehicle is less than or equal to the preset distance, control the target vehicle not to immediately drive out of the target parking space;

[0049] To more accurately calculate the relationship between the target vehicle and other vehicles and improve the efficiency and safety of the target vehicle driving out of the parking space, specifically, when the lane that the target vehicle intends to enter is the same as the lane that the other vehicle is traveling in, and the other vehicle is traveling in front of the target parking space or has passed the target parking space, determine whether the distance between the target vehicle and the other vehicle is greater than the preset distance; wherein, determining whether the distance between the target vehicle and the other vehicle is greater than the preset distance includes:

[0050] According to the second formula, determine whether the distance between the target vehicle and the other vehicle is greater than the preset distance, as shown in formula 2:

[0051] a = D z1 -d z2 +d q2 -d a2 (Formula 2)

[0052] where t 21is the time taken for the target vehicle to enter the same lane as the other vehicle, D z1 is the distance between the target vehicle and the other vehicle in the axial direction parallel to the lane when the target vehicle is not moving, d a2 is the preset distance, d z2 is for the target vehicle at t 21 the distance traveled by the target vehicle in the axial direction within time, d q2 is for the other vehicle at t 21 the distance traveled by the other vehicle in the axial direction within time;

[0053] When a > 0, it is determined that the distance between the target vehicle and the other vehicle is greater than the preset distance;

[0054] When a ≤ 0, it is determined that the distance between the target vehicle and the other vehicle is less than or equal to the preset distance.

[0055] When the lane that the target vehicle wants to enter is a lane away from the target parking space and the lane that the other vehicle is traveling in is a lane close to the target parking space, the other vehicle has not passed the target parking space, and the distance between the target vehicle and the other vehicle is greater than the preset distance, control the target vehicle to immediately drive out of the target parking space;

[0056] When the lane that the target vehicle wants to enter is a lane away from the target parking space and the lane that the other vehicle is traveling in is a lane close to the target parking space, the other vehicle has not passed the target parking space, and the distance between the target vehicle and the other vehicle is less than or equal to the preset distance, control the target vehicle not to immediately drive out of the target parking space;

[0057] In order to more accurately calculate the relationship between the target vehicle and other vehicles and improve the efficiency and safety of the target vehicle driving out of the parking space, specifically, when the lane that the vehicle wants to enter is a lane away from the target parking space and the lane that the other vehicle is traveling in is a lane close to the target parking space, and the other vehicle has not passed the target parking space, determine whether the distance between the target vehicle and the other vehicle is greater than the preset distance:

[0058] According to the third formula, determine whether the distance between the target vehicle and the other vehicle is greater than the preset distance, as shown in formula 3:

[0059] a = D 02 -d z3 -d q3 -d a3 (Formula 3)

[0060] where, t12 is the time taken for the target vehicle to enter the same lane as the other vehicle, D 02 is the distance between the target vehicle when it is not moving and the other vehicle in the axial direction parallel to the lane, d a3 is the preset distance, d z3 is for the target vehicle at time t 12 is the distance traveled by the target vehicle in the axial direction within time t, d q3 is for the other vehicle at time t 12 is the distance traveled by the other vehicle in the axial direction within time t;

[0061] When a > 0, it is determined that the distance between the target vehicle and the other vehicle is greater than the preset distance;

[0062] When a ≤ 0, it is determined that the distance between the target vehicle and the other vehicle is less than or equal to the preset distance.

[0063] When the lane that the target vehicle intends to enter is a lane away from the target parking space and the lane that the other vehicle is traveling in is a lane close to the target parking space, the other vehicle is traveling in front of the target parking space or has passed the target parking space, and the distance between the target vehicle and the other vehicle is greater than the preset distance, control the target vehicle to immediately drive out of the target parking space;

[0064] When the lane that the target vehicle intends to enter is a lane away from the target parking space and the lane that the other vehicle is traveling in is a lane close to the target parking space, the other vehicle is traveling in front of the target parking space or has passed the target parking space, and the distance between the target vehicle and the other vehicle is less than or equal to the preset distance, control the target vehicle not to immediately drive out of the target parking space;

[0065] In order to more accurately calculate the relationship between the target vehicle and other vehicles and improve the efficiency and safety of the target vehicle driving out of the parking space, specifically, when the lane that the vehicle intends to enter is a lane away from the target parking space and the lane that the other vehicle is traveling in is a lane close to the target parking space, and the other vehicle is traveling in front of the target parking space or has passed the target parking space, determining whether the distance between the target vehicle and the other vehicle is greater than the preset distance includes:

[0066] According to the fourth formula, determine whether the distance between the target vehicle and the other vehicle is greater than the preset distance, as shown in formula 4:

[0067] a = D z2 + d z4 + d q4-d a4 (Formula 4)

[0068] where t 22 is the time taken for the target vehicle to enter the same lane as the other vehicle, D z2 is the distance between the target vehicle when it is not moving and the other vehicle in the axial direction parallel to the lane, d a4 is the preset distance, d z4 is the distance traveled by the target vehicle in the axial direction at time t 22 , d q4 is the distance traveled by the other vehicle in the axial direction at time t 22 ;

[0069] When a > 0, it is determined that the distance between the target vehicle and the other vehicle is greater than the preset distance;

[0070] When a ≤ 0, it is determined that the distance between the target vehicle and the other vehicle is less than or equal to the preset distance.

[0071] When the lane that the target vehicle intends to enter is the lane close to the target parking space and the lane in which the other vehicle is traveling is the lane far from the target parking space, control the target vehicle to immediately drive out of the target parking space.

[0072] In order to improve the efficiency of the target vehicle driving out of the parking space, and calculate the relationship between the target vehicle and other vehicles more accurately, and improve the safety between the target vehicle and other vehicles when the target vehicle drives out of the parking space, in an alternative embodiment, the target vehicle is an intelligent vehicle. Determining whether the intelligent vehicle can immediately drive out of the parking space includes the following steps:

[0073] Step S201, when the intelligent vehicle decides to drive out of the parking space, at this time, the perception system needs to perceive whether there are other vehicles traveling on the lane in front of the parking space where the intelligent vehicle is located. If there are no other vehicles traveling, the intelligent vehicle can immediately drive out of the parking space. Otherwise, the intelligent vehicle needs to determine whether the lane in which the other vehicle is traveling is the same as the lane that the vehicle itself is about to enter. If they are the same, go to step S202, as Figure 4 、 Figure 5 shown; if they are different, go to step S203, as Figure 7 、 Figure 11 shown. Where vehicle A represents the intelligent vehicle, vehicle B represents the other vehicle, D0 represents the distance between the intelligent vehicle and the other vehicle, F A represents the driving direction of the intelligent vehicle, F B represents the driving direction of the other vehicle.

[0074] Step S202: When the lane that the intelligent vehicle is about to enter is the same as the lane where other vehicles are traveling, the intelligent vehicle needs to determine the distance between its own position and other vehicles in the lane line direction. If other vehicles have not passed the parking space where the intelligent vehicle is located, then proceed to step S204. If other vehicles are traveling in front of the parking space where the intelligent vehicle is located or have already passed the parking space, then proceed to step S205.

[0075] Step S203: When the lane that the intelligent vehicle is about to enter is different from the lane where other vehicles are traveling, if the intelligent vehicle is about to enter a lane closer to its own parking space and other vehicles are traveling in a lane farther from the parking space, the intelligent vehicle can immediately drive out of the parking space. If the intelligent vehicle is about to enter a lane farther from its own parking space and other vehicles are traveling in a lane closer to the parking space, the intelligent vehicle needs to determine the distance between its own position and other vehicles in the lane line direction. If other vehicles have not passed the intelligent vehicle's parking space, then proceed to step S206. If other vehicles are traveling in front of the parking space where the intelligent vehicle is located or have already passed the parking space, then proceed to step S207.

[0076] Step S204: The time taken for the intelligent vehicle to accelerate uniformly from rest to the same speed as other vehicles in the direction of other vehicles' travel is t 11 , the distance between the closest point of the intelligent vehicle at rest and other vehicles in the lane line direction is D 01 , the safety distance between the intelligent vehicle and other vehicles is d a1 , the intelligent vehicle travels a distance of d in the lane line direction within the time period t 11 , and other vehicles travel a distance of d in the lane line direction within the time period t z1 , which can be obtained from formulas 5 to 9. The vehicle model is as 11 , which can be obtained from formulas 5 to 9. The vehicle model is as shown in q1 , and can be obtained from formulas 5 to 9. The vehicle model is as shown in Figure 3 shown, where W b represents the vehicle width, L b represents the vehicle rear overhang length, L x represents the vehicle wheelbase, L f represents the vehicle front overhang length. The schematic diagram of the mathematical model is as Figure 6 shown, where (x a , y a ) is the position coordinate of the center of the rear axle of the intelligent vehicle, (x b , y b ) is the position coordinate of the center of the rear axle of other vehicles, v b is the speed of other vehicles and is assumed to be traveling at a constant speed, θ is the yaw angle of the intelligent vehicle, v a$v_{\parallel}$ is the velocity component of the intelligent vehicle in the driving direction of other vehicles, $v$ is the velocity of the intelligent vehicle, $R$ is the radius of the circular arc part in the vehicle trajectory, and $L_1$ is the straight line part in the vehicle trajectory.

[0077] $v\cos(\theta)=v_{\parallel}$ b (Formula 5)

[0078] $v = at$ 11 (Formula 6)

[0079]

[0080] $d$ q1 $= v_{\parallel}$ b $t$ 11 (Formula 8)

[0081]

[0082] where $a$ is the acceleration of the vehicle.

[0083] Based on the above parameters, Formula 10 can be obtained. If $E$ q1 $> 0$, it means that the intelligent vehicle can drive out of the parking space safely without affecting the driving of other vehicles at this time; if $E$ q1 $\leq 0$, it means that the intelligent vehicle cannot drive out of the parking space at this time.

[0084] $E$ q1 $= D$ 01 $+ d_{\parallel}$ z1 $- d_{\perp}$ q1 $- d_{\perp}$ a1 (Formula 10)

[0085] Step S205, the time taken for the intelligent vehicle to accelerate uniformly from rest to the moment when the uppermost end of the intelligent vehicle and the lowermost end of other vehicles are on a line parallel to the lane line in the vertical direction of the lane line (the direction with an included angle less than 90° between the perpendicular line and the orientation of the intelligent vehicle is the positive direction) is $t$ 21 , the distance between the closest point of the intelligent vehicle at rest and other vehicles in the lane line direction is $D$ z1 , the safety distance between the intelligent vehicle and other vehicles is $d$ a2 , the distance traveled by the intelligent vehicle in the lane line direction during the time period $t$ 21 is $d_{\parallel}$ z2 The distance traveled by other vehicles in the lane line direction during the time period $t$ 21 is $d_{\parallel}$ q2 . It can be obtained from Formulas 11 to 16. The schematic diagram of the mathematical model is as Figure 9 shown.

[0086] $v\leq v_{\max}$ b (Formula 11)

[0087] v = at 21 (Equation 12)

[0088]

[0089]

[0090] d q2 = v b t 21 (Equation 15)

[0091]

[0092] According to the above parameters, Equation 17 can be obtained. If E q2 > 0, it means that the intelligent vehicle can drive out of the parking space at this time safely without affecting the driving of other vehicles; if E q2 ≤ 0, it means that the intelligent vehicle cannot drive out of the parking space at this time.

[0093] E q2 = D z1 - d z2 + d q2 - d a2 (Equation 17)

[0094] Step S206, the time taken for the intelligent vehicle to accelerate uniformly from a standstill until the lowest point of the intelligent vehicle is on the same line parallel to the lane line as the highest point of other vehicles when the intelligent vehicle is about to drive into the oncoming lane (the direction with an angle less than 90° between the perpendicular line and the orientation of the intelligent vehicle is the positive direction) is t 12 , the distance between the closest point of the intelligent vehicle at rest and other vehicles in the lane line direction is D 02 , the safety distance between the intelligent vehicle and other vehicles is d a3 , the distance traveled by the intelligent vehicle in the lane line direction during the time period t 12 is d z3 , the distance traveled by other vehicles in the lane line direction during the time period t 12 is d q3 . It can be obtained from Equations 18 to 22. The schematic diagram of the mathematical model is as Figure 8 shown.

[0095] v = at 12 (Equation 18)

[0096]

[0097]

[0098] d q3 = v b t 12(Formula 21)

[0099]

[0100] Based on the above parameters, Formula 23 can be obtained. If E q3 > 0, it means that the intelligent vehicle can drive out of the parking space at this time safely without affecting the driving of other vehicles; if E q3 ≤ 0, it means that the intelligent vehicle cannot drive out of the parking space at this time.

[0101] E q3 = D 02 - d z3 - d q3 - d a3 (Formula 23)

[0102] Step S207, the time taken for the intelligent vehicle to accelerate uniformly from a standstill until the uppermost end of the intelligent vehicle and the lowermost end of other vehicles are on a line parallel to the lane line in the vertical direction of the lane line (the direction with an included angle less than 90° between the perpendicular line and the orientation of the intelligent vehicle is the positive direction) is t 22 , the distance between the closest point of the intelligent vehicle at rest and other vehicles in the lane line direction is D z2 , the safety distance between the intelligent vehicle and other vehicles is d a4 , the distance traveled by the intelligent vehicle in the lane line direction during the t 22 time period is d z4 , the distance traveled by other vehicles in the lane line direction during the t 22 time period is d q4 , which can be obtained from Formulas 24 to 28. The schematic diagram of the mathematical model is as Figure 10 shown.

[0103] v = at 22 (Formula 24)

[0104]

[0105]

[0106] d q4 = v b t 22 (Formula 27)

[0107]

[0108] Based on the above parameters, Formula 29 can be obtained. If E q4 > 0, it means that the intelligent vehicle can drive out of the parking space at this time safely without affecting the driving of other vehicles; if E q4 ≤ 0, it means that the intelligent vehicle cannot drive out of the parking space at this time.

[0109] E q4 = D z2 + d z4 + d q4 - d a4 (Equation 29)

[0110] In the above method for controlling a vehicle to drive out of a parking space in this application, it is determined whether there are other vehicles driving on the lane in front of the target vehicle; when there are other vehicles driving on the lane in front of the target vehicle, the first relationship, the second relationship, and the third relationship between the target vehicle and the other vehicle are obtained, and the path for the target vehicle to drive out of the target parking space is determined according to the first relationship, the second relationship, and the third relationship. The first relationship is the positional relationship between the lane that the target vehicle intends to drive into and the lane on which the other vehicle is driving, the second relationship is the positional relationship between the target vehicle and the other vehicle, and the third relationship is the distance relationship between the target vehicle and the other vehicle. This enables the intelligent vehicle to make a better and more efficient decision when driving out of the parking space, and solves the problem in the prior art that when an intelligent vehicle drives out of a parking space, it can ensure the efficiency and safety of its own driving while not affecting the vehicles driving on the lane.

[0111] In an alternative embodiment, a system is further provided, as Figure 12 shown. The above system includes: a perception system, a decision-making system, trajectory planning, and vehicle control. The perception system senses whether there are other vehicles driving on the lane in front of the parking space where the intelligent vehicle is located. The decision-making system makes a decision on whether to immediately drive out of the parking space according to the positional relationship between the other vehicle and the target vehicle sensed by the perception system, then plans the trajectory for the target vehicle to drive out of the parking space, and finally controls the vehicle to drive out of the parking space according to the trajectory.

[0112] In the above system of this application, it is sensed by the perception system whether there are other vehicles driving on the lane in front of the target vehicle; when there are other vehicles driving on the lane in front of the target vehicle, the first relationship, the second relationship, and the third relationship between the target vehicle and the other vehicle are obtained, and the path for the target vehicle to drive out of the target parking space is determined according to the first relationship, the second relationship, and the third relationship. The first relationship is the positional relationship between the lane that the target vehicle intends to drive into and the lane on which the other vehicle is driving, the second relationship is the positional relationship between the target vehicle and the other vehicle, and the third relationship is the distance relationship between the target vehicle and the other vehicle. This enables the intelligent vehicle to make a better and more efficient decision when driving out of the parking space, and solves the problem in the prior art that when an intelligent vehicle drives out of a parking space, it can ensure the efficiency and safety of its own driving while not affecting the vehicles driving on the lane.

[0113] The embodiments of the present application also provide a device for controlling a vehicle to drive out of a parking space. It should be noted that the device for controlling a vehicle to drive out of a parking space in the embodiments of the present application can be used to execute the method for controlling a vehicle to drive out of a parking space provided in the embodiments of the present application. The following introduces the device for controlling a vehicle to drive out of a parking space provided in the embodiments of the present application.

[0114] Figure 13 is a schematic diagram of a device for controlling a vehicle to drive out of a parking space according to an embodiment of the present application. As Figure 13 shown, the device includes: a determination unit and an acquisition unit. The determination unit is configured to determine whether there is another vehicle driving on the lane in front of the target vehicle; the acquisition unit is configured to, when there is another vehicle driving on the lane in front of the target vehicle, acquire a first relationship, a second relationship, and a third relationship between the target vehicle and the other vehicle, and determine a path for the target vehicle to drive out of the target parking space according to the first relationship, the second relationship, and the third relationship. The first relationship is the positional relationship between the lane that the target vehicle intends to drive into and the lane on which the other vehicle is driving; the second relationship is the positional relationship between the target vehicle and the other vehicle; the third relationship is the distance relationship between the target vehicle and the other vehicle.

[0115] Specifically, the acquisition unit further includes a first determination unit, a second determination unit, a third determination unit, a fourth determination unit, and a control module. The first determination unit is configured to determine whether the distance between the target vehicle and the other vehicle is greater than the preset distance when the lane that the target vehicle intends to drive into is the same as the lane on which the other vehicle is driving and the other vehicle has not passed the target parking space. Among them, determining whether the distance between the target vehicle and the other vehicle is greater than the preset distance includes: according to the first formula, determining whether the distance between the target vehicle and the other vehicle is greater than the preset distance, as shown in Formula 1:

[0116] a = D 01 + d z1 - d q1 - d a1 (Formula 1)

[0117] where t 11 is the time taken for the target vehicle to drive into the same lane as the other vehicle, D 01 is the distance between the target vehicle and the other vehicle in the axial direction parallel to the lane when the target vehicle is not driving, d a1 is the preset distance, d z1 is the distance traveled by the target vehicle in the axial direction within time t 11 , d q1 is the distance traveled by the other vehicle within time t 11The distance traveled in the above axial direction within a certain time;

[0118] When a > 0, it is determined that the distance between the target vehicle and the other vehicle is greater than the preset distance;

[0119] When a ≤ 0, it is determined that the distance between the target vehicle and the other vehicle is less than or equal to the preset distance.

[0120] The first determination unit includes a first control unit and a second control unit. The first control unit is used to control the target vehicle to immediately drive out of the target parking space when the lane the target vehicle intends to drive into is the same as the lane the other vehicle is driving in, the other vehicle has not passed the target parking space, and the distance between the target vehicle and the other vehicle is greater than the preset distance;

[0121] The second control unit is used to control the target vehicle not to immediately drive out of the target parking space when the lane the target vehicle intends to drive into is the same as the lane the other vehicle is driving in, the other vehicle has not passed the target parking space, and the distance between the target vehicle and the other vehicle is less than or equal to the preset distance;

[0122] The second determination unit is used to determine whether the distance between the target vehicle and the other vehicle is greater than the preset distance when the lane the target vehicle intends to drive into is the same as the lane the other vehicle is driving in, and the other vehicle is driving in front of the target parking space or has passed the target parking space; wherein, determining whether the distance between the target vehicle and the other vehicle is greater than the preset distance includes: according to the second formula, determining whether the distance between the target vehicle and the other vehicle is greater than the preset distance, as shown in formula 2:

[0123] a = D z1 -d z2 +d q2 -d a2 (Formula 2)

[0124] wherein, t 21 is the time taken for the target vehicle to drive into the same lane as the other vehicle, D z1 is the distance between the target vehicle when it is not moving and the other vehicle in the axial direction parallel to the lane, d a2 is the preset distance, d z2 is the distance traveled by the target vehicle in the above axial direction within t 21 time, d q2 is the distance traveled by the other vehicle in the above axial direction within t 21 time;

[0125] When a > 0, it is determined that the distance between the target vehicle and the other vehicle is greater than the preset distance;

[0126] When a ≤ 0, it is determined that the distance between the target vehicle and the other vehicle is less than or equal to the preset distance.

[0127] The second determination unit includes a third control unit and a fourth control unit. The third control unit is configured to control the target vehicle to immediately drive out of the target parking space when the lane that the target vehicle intends to drive into is the same as the lane that the other vehicle is driving in, the other vehicle is driving in front of the target parking space or has passed the target parking space, and the distance between the target vehicle and the other vehicle is greater than the preset distance; the fourth control unit is configured to control the target vehicle not to immediately drive out of the target parking space when the lane that the target vehicle intends to drive into is the same as the lane that the other vehicle is driving in, the other vehicle is driving in front of the target parking space or has passed the target parking space, and the distance between the target vehicle and the other vehicle is less than or equal to the preset distance.

[0128] The third determination unit is configured to determine whether the distance between the target vehicle and the other vehicle is greater than the preset distance when the lane that the vehicle intends to drive into is a lane away from the target parking space and the lane that the other vehicle is driving in is a lane close to the target parking space, and the other vehicle has not passed the target parking space: According to the third formula, determine whether the distance between the target vehicle and the other vehicle is greater than the preset distance, as shown in Formula 3:

[0129] a = D 02 -d z3 -d q3 -d a3 (Formula 3)

[0130] Where, t 12 is the time taken for the target vehicle to drive into the same lane as the other vehicle, D 02 is the distance between the target vehicle when it is not moving and the other vehicle in the axial direction parallel to the lane, d a3 is the preset distance, d z3 is the distance traveled by the target vehicle in the axial direction within time t 12 d q3 is the distance traveled by the other vehicle in the axial direction within time t 12 ;

[0131] When a > 0, it is determined that the distance between the target vehicle and the other vehicle is greater than the preset distance;

[0132] When a ≤ 0, it is determined that the distance between the target vehicle and the other vehicle is less than or equal to the preset distance.

[0133] The third determination unit includes a fifth control unit and a sixth control unit. The fifth control unit is configured to control the target vehicle to immediately drive out of the target parking space when the lane that the target vehicle intends to drive into is a lane away from the target parking space, the lane that the other vehicle is driving in is a lane close to the target parking space, the other vehicle has not passed the target parking space, and the distance between the target vehicle and the other vehicle is greater than the preset distance. The sixth control unit is configured to control the target vehicle not to immediately drive out of the target parking space when the lane that the target vehicle intends to drive into is a lane away from the target parking space, the lane that the other vehicle is driving in is a lane close to the target parking space, the other vehicle has not passed the target parking space, and the distance between the target vehicle and the other vehicle is less than or equal to the preset distance.

[0134] The fourth determination unit is configured to determine whether the distance between the target vehicle and the other vehicle is greater than the preset distance when the lane that the vehicle intends to drive into is a lane away from the target parking space, the lane that the other vehicle is driving in is a lane close to the target parking space, and the other vehicle is driving in front of the target parking space or has passed the target parking space, including: determining whether the distance between the target vehicle and the other vehicle is greater than the preset distance according to the fourth formula, as shown in Formula 4:

[0135] a = D z2 +d z4 +d q4 -d a4 (Formula 4)

[0136] where t 22 is the time taken for the target vehicle to drive into the same lane as the other vehicle, D z2 is the distance between the target vehicle when it is not moving and the other vehicle in the axial direction parallel to the lane, d a4 is the preset distance, d z4 is the distance traveled by the target vehicle in the axial direction within time t 22 , d q4 is the distance traveled by the other vehicle in the axial direction within time t 22 ;

[0137] When a > 0, it is determined that the distance between the target vehicle and the other vehicle is greater than the preset distance;

[0138] When a ≤ 0, it is determined that the distance between the target vehicle and the other vehicle is less than or equal to the preset distance.

[0139] The fourth determining unit includes a seventh control unit and an eighth control unit. The seventh control unit is configured to control the target vehicle to immediately drive out of the target parking space when the lane that the target vehicle intends to drive into is a lane away from the target parking space, the lane that the other vehicle is driving in is a lane close to the target parking space, the other vehicle is driving in front of the target parking space or has passed the target parking space, and the distance between the target vehicle and the other vehicle is greater than the preset distance; The eighth control unit is configured to control the target vehicle not to immediately drive out of the target parking space when the lane that the target vehicle intends to drive into is a lane away from the target parking space, the lane that the other vehicle is driving in is a lane close to the target parking space, the other vehicle is driving in front of the target parking space or has passed the target parking space, and the distance between the target vehicle and the other vehicle is less than or equal to the preset distance.

[0140] The control module is configured to control the target vehicle to immediately drive out of the target parking space when the lane that the target vehicle intends to drive into is a lane close to the target parking space and the lane that the other vehicle is driving in is a lane away from the target parking space.

[0141] In the device for controlling a vehicle to drive out of a parking space according to the present application, it is determined whether there is another vehicle driving in the lane in front of the target vehicle through the determining unit; when there is another vehicle driving in the lane in front of the target vehicle, the first relationship, the second relationship and the third relationship between the target vehicle and the other vehicle are obtained through the obtained unit, and the path for the target vehicle to drive out of the target parking space is determined according to the first relationship, the second relationship and the third relationship. The first relationship is the positional relationship between the lane that the target vehicle intends to drive into and the lane that the other vehicle is driving in, the second relationship is the positional relationship between the target vehicle and the other vehicle, and the third relationship is the distance relationship between the target vehicle and the other vehicle. This enables the intelligent vehicle to make a better and more efficient decision when driving out of the parking space, and solves the problem in the prior art that when an intelligent vehicle drives out of the parking space, it can ensure the efficiency and safety of its own driving while not affecting the vehicles driving in the lane.

[0142] According to an embodiment of the present application, a computer-readable storage medium is provided. The computer-readable storage medium includes a stored program, wherein when the program runs, it controls the device where the computer-readable storage medium is located to execute any one of the above methods.

[0143] The memory may include non-permanent memory in a computer-readable medium, in the form of random access memory (RAM) and / or non-volatile memory such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0144] According to an embodiment of the present application, there is provided an intelligent driving device, including: one or more memories, a display device, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more, and the one or more programs include a method for executing any one of the above-mentioned methods for controlling a vehicle to drive out of a parking space. The device herein may be a server, a PC, a PAD, a mobile phone, etc.

[0145] Those skilled in the art should understand that the embodiments of the present application may be provided as a method, a system, or a computer program product. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0146] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows and / or blocks in the flowchart and / or block diagram, can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for realizing the functions specified in Figure 1 one or more of the flows Figure 1 or a plurality of flows and / or blocks

[0147] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device that realizes the functions specified in Figure 1 one or more of the flows Figure 1 or a plurality of flows and / or blocks

[0148] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide for implementing the process Figure 1 in one process or multiple processes and / or blocks Figure 1 steps of the functions specified in one block or multiple blocks.

[0149] In a typical configuration, a computing device includes one or more input / output interfaces, a network interface, and memory.

[0150] Computer-readable media includes permanent and non-permanent, removable and non-removable media and can be implemented by any method or technology for information storage. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media, such as modulated data signals and carrier waves.

[0151] It should also be noted that the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, commodity or device. Without further limitation, an element defined by the statement "including one..." does not exclude the presence of additional identical elements in the process, method, commodity or device including the element.

[0152] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0153] 1) In the above method for controlling a vehicle to drive out of a parking space according to this application, it is determined whether there are other vehicles driving on the lane in front of the target vehicle; when there are other vehicles driving on the lane in front of the target vehicle, the first relationship, the second relationship, and the third relationship between the target vehicle and the other vehicle are obtained, and the path for the target vehicle to drive out of the target parking space is determined according to the first relationship, the second relationship, and the third relationship. The first relationship is the positional relationship between the lane that the target vehicle intends to drive into and the lane that the other vehicle is driving on, the second relationship is the positional relationship between the target vehicle and the other vehicle, and the third relationship is the distance relationship between the target vehicle and the other vehicle. This enables the intelligent vehicle to make a better and more efficient decision when driving out of the parking space, and solves the problem in the prior art that when an intelligent vehicle drives out of a parking space, it is necessary to ensure the efficiency and safety of its own driving while not affecting the vehicles driving on the lane.

[0154] 2) In the above device for controlling a vehicle to drive out of a parking space according to this application, the determination unit determines whether there are other vehicles driving on the lane in front of the target vehicle; when there are other vehicles driving on the lane in front of the target vehicle, the acquisition unit acquires the first relationship, the second relationship, and the third relationship between the target vehicle and the other vehicle, and determines the path for the target vehicle to drive out of the target parking space according to the first relationship, the second relationship, and the third relationship. The first relationship is the positional relationship between the lane that the target vehicle intends to drive into and the lane that the other vehicle is driving on, the second relationship is the positional relationship between the target vehicle and the other vehicle, and the third relationship is the distance relationship between the target vehicle and the other vehicle. This enables the intelligent vehicle to make a better and more efficient decision when driving out of the parking space, and solves the problem in the prior art that when an intelligent vehicle drives out of a parking space, it is necessary to ensure the efficiency and safety of its own driving while not affecting the vehicles driving on the lane.

[0155] The above are only the preferred embodiments of this application and are not used to limit this application. For those skilled in the art, various changes and modifications can be made to this application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the protection scope of this application.

Claims

1. A method for controlling a vehicle to drive out of a parking space, characterized in that, Including: Determine whether there are other vehicles driving on the lane in front of the target vehicle; When there are other vehicles driving on the lane in front of the target vehicle, obtain the first relationship, the second relationship and the third relationship between the target vehicle and the other vehicle, and determine the path for the target vehicle to drive out of the target parking space according to the first relationship, the second relationship and the third relationship. The first relationship is the positional relationship between the lane that the target vehicle wants to drive into and the lane that the other vehicle is driving on. The second relationship is the positional relationship between the target vehicle and the other vehicle. The third relationship is the distance relationship between the target vehicle and the other vehicle; Determining the path for the target vehicle to drive out of the target parking space according to the first relationship, the second relationship and the third relationship includes: When the lane that the target vehicle wants to drive into is a lane away from the target parking space and the lane that the other vehicle is driving on is a lane close to the target parking space, the other vehicle has not passed the target parking space, and the distance between the target vehicle and the other vehicle is greater than a preset distance, control the target vehicle to immediately drive out of the target parking space. And in this case, determining whether the distance between the target vehicle and the other vehicle is greater than the preset distance includes: According to the third formula, determine whether the distance between the target vehicle and the other vehicle is greater than the preset distance: a = D 02 -d z3 -d q3 -d a3 where t 12 is the time taken for the target vehicle to enter the same lane as the other vehicle, D 02 is the distance between the target vehicle when it is not moving and the other vehicle in the axial direction parallel to the lane, d a3 is the preset distance, d z3 is the distance traveled by the target vehicle in the axial direction within time t 12 , d q3 is the distance traveled by the other vehicle in the axial direction within time t 12 ; When a > 0, determine that the distance between the target vehicle and the other vehicle is greater than the preset distance; When a ≤ 0, determine that the distance between the target vehicle and the other vehicle is less than or equal to the preset distance.

2. The method according to claim 1, characterized in that, Determining the path for the target vehicle to drive out of the target parking space according to the first relationship, the second relationship and the third relationship includes one of the following: When the lane that the target vehicle wants to drive into and the lane that the other vehicle is driving on are the same lane, the other vehicle has not passed the target parking space, and the distance between the target vehicle and the other vehicle is greater than the preset distance, control the target vehicle to immediately drive out of the target parking space; When the lane that the target vehicle wants to drive into and the lane that the other vehicle is driving on are the same lane, the other vehicle has not passed the target parking space, and the distance between the target vehicle and the other vehicle is less than or equal to the preset distance, control the target vehicle not to immediately drive out of the target parking space; When the lane that the target vehicle wants to drive into and the lane that the other vehicle is driving on are the same lane, the other vehicle is driving in front of the target parking space or has passed the target parking space, and the distance between the target vehicle and the other vehicle is greater than the preset distance, control the target vehicle to immediately drive out of the target parking space; When the lane that the target vehicle intends to drive into is the same as the lane that the other vehicle is driving in, the other vehicle is driving in front of the target parking space or has passed the target parking space, and the distance between the target vehicle and the other vehicle is less than or equal to the preset distance, control the target vehicle not to immediately drive out of the target parking space; When the lane that the target vehicle intends to drive into is a lane away from the target parking space and the lane that the other vehicle is driving in is a lane close to the target parking space, the other vehicle has not passed the target parking space, and the distance between the target vehicle and the other vehicle is less than or equal to the preset distance, control the target vehicle not to immediately drive out of the target parking space; When the lane that the target vehicle intends to drive into is a lane away from the target parking space and the lane that the other vehicle is driving in is a lane close to the target parking space, the other vehicle is driving in front of the target parking space or has passed the target parking space, and the distance between the target vehicle and the other vehicle is greater than the preset distance, control the target vehicle to immediately drive out of the target parking space; When the lane that the target vehicle intends to drive into is a lane away from the target parking space and the lane that the other vehicle is driving in is a lane close to the target parking space, the other vehicle is driving in front of the target parking space or has passed the target parking space, and the distance between the target vehicle and the other vehicle is less than or equal to the preset distance, control the target vehicle not to immediately drive out of the target parking space; When the lane that the target vehicle intends to drive into is a lane close to the target parking space and the lane that the other vehicle is driving in is a lane away from the target parking space, control the target vehicle to immediately drive out of the target parking space.

3. The method according to claim 2, characterized in that, The method further includes: When the lane that the target vehicle intends to drive into is the same as the lane that the other vehicle is driving in, and the other vehicle has not passed the target parking space, determine whether the distance between the target vehicle and the other vehicle is greater than the preset distance; Wherein, determining whether the distance between the target vehicle and the other vehicle is greater than the preset distance includes: According to the first formula, determine whether the distance between the target vehicle and the other vehicle is greater than the preset distance: a = D 01 + d z1 - d q1 - d a1 where t 11 is the time taken for the target vehicle to enter the same lane as the other vehicle, D 01 is the distance between the target vehicle and the other vehicle in the axial direction parallel to the lane when the target vehicle is not moving, d a1 is the preset distance, d z1 is the distance traveled by the target vehicle in the axial direction at time t 11 , d q1 is the distance traveled by the other vehicle in the axial direction at time t 11 ; When a > 0, determine that the distance between the target vehicle and the other vehicle is greater than the preset distance; When a ≤ 0, determine that the distance between the target vehicle and the other vehicle is less than or equal to the preset distance.

4. The method according to claim 2, characterized in that, The method further includes: When the lane that the target vehicle intends to drive into is the same as the lane that the other vehicle is driving in, and the other vehicle is driving in front of the target parking space or has passed the target parking space, determine whether the distance between the target vehicle and the other vehicle is greater than the preset distance; Wherein, determining whether the distance between the target vehicle and the other vehicle is greater than the preset distance includes: Determine whether the distance between the target vehicle and the other vehicle is greater than the preset distance according to the second formula: a = D z1 -d z2 +d q2 -d a2 where t 21 is the time taken for the target vehicle to enter the same lane as the other vehicle, D z1 is the distance between the target vehicle and the other vehicle in the axial direction parallel to the lane when the target vehicle is not moving, d a2 is the preset distance, d z2 is the distance traveled by the target vehicle in the axial direction within time t 21 , d q2 is the distance traveled by the other vehicle in the axial direction within time t 21 ; In the case where a > 0, determine that the distance between the target vehicle and the other vehicle is greater than the preset distance; In the case where a ≤ 0, determine that the distance between the target vehicle and the other vehicle is less than or equal to the preset distance.

5. The method according to claim 2, wherein, The method further includes: When the lane that the vehicle intends to drive into is a lane away from the target parking space and the lane where the other vehicle is driving is a lane close to the target parking space, and the other vehicle is driving in front of the target parking space or has passed the target parking space, determining whether the distance between the target vehicle and the other vehicle is greater than the preset distance includes: Determine whether the distance between the target vehicle and the other vehicle is greater than the preset distance according to the fourth formula: a = D z2 + d z4 + d q4 - d a4 Among them, t 22 is the time taken for the target vehicle to enter the same lane as the other vehicle, D z2 is the distance between the target vehicle and the other vehicle in the axial direction parallel to the lane when the target vehicle is not moving, d a4 is the preset distance, d z4 is the distance traveled by the target vehicle in the axial direction within time t 22 , d q4 is the distance traveled by the other vehicle in the axial direction within time t 22 ; In the case where a > 0, determine that the distance between the target vehicle and the other vehicle is greater than the preset distance; In the case where a ≤ 0, determine that the distance between the target vehicle and the other vehicle is less than or equal to the preset distance.

6. The method according to claim 1, wherein, The method further includes: When there is no other vehicle driving in the lane in front of the target vehicle, control the target vehicle to immediately drive out of the target parking space.

7. A device for controlling a vehicle to drive out of a parking space, wherein, Includes: A determination unit for determining whether there is any other vehicle driving in the lane in front of the target vehicle; An acquisition unit for, when there is any other vehicle driving in the lane in front of the target vehicle, acquiring the first relationship, the second relationship, and the third relationship between the target vehicle and the other vehicle, and determining the path for the target vehicle to drive out of the target parking space according to the first relationship, the second relationship, and the third relationship, where the first relationship is the positional relationship between the lane that the target vehicle intends to drive into and the lane where the other vehicle is driving, the second relationship is the positional relationship between the target vehicle and the other vehicle, and the third relationship is the distance relationship between the target vehicle and the other vehicle; The acquisition unit includes a third determination unit, and the third determination unit includes a fifth control unit, and the fifth control unit is used to control the target vehicle to immediately drive out of the target parking space when the lane that the target vehicle intends to drive into is a lane away from the target parking space, the lane where the other vehicle is driving is a lane close to the target parking space, the other vehicle has not passed the target parking space, and the distance between the target vehicle and the other vehicle is greater than the preset distance, The third determination unit is further used to, in this case, determine whether the distance between the target vehicle and the other vehicle is greater than the preset distance according to the third formula: a = D 02 -d z3 -d q3 -d a3 where t 12 is the time taken for the target vehicle to enter the same lane as the other vehicle, D 02 is the distance between the target vehicle and the other vehicle in the axial direction parallel to the lane when the target vehicle is not moving, d a3 is the preset distance, d z3 is the distance traveled by the target vehicle in the axial direction within time t 12 , d q3 is the distance traveled by the other vehicle in the axial direction within time t 12 ; In the case where a > 0, determine that the distance between the target vehicle and the other vehicle is greater than the preset distance; In the case where a ≤ 0, determine that the distance between the target vehicle and the other vehicle is less than or equal to the preset distance.

8. A computer-readable storage medium, wherein, The computer-readable storage medium includes a stored program, wherein when the program runs, it controls the device where the computer-readable storage medium is located to execute the method according to any one of claims 1 to 6.

9. An intelligent driving device, wherein, Includes: One or more memories, a display device, and one or more programs, wherein the one or more programs are stored in the memories and are configured to be executed by the one or more, and the one or more programs include a method for controlling a vehicle to drive out of a parking space according to any one of claims 1 to 6.

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