Method, device, vehicle and storage medium for parking in a side parking space

Abstract

The present application relates to a method, apparatus, vehicle, and storage medium for parking a vehicle in a parallel parking space. The method comprises: constructing information about a target parallel parking space and the surrounding drivable space based on the target parallel parking space; identifying the vehicle's current parking scenario based on the information about the target parallel parking space and the surrounding drivable space, and determining a parking starting point corresponding to the current parking scenario; and, after controlling the vehicle to drive to the parking starting point, executing the parallel parking action according to a parking planning path generated based on the information about the target parallel parking space and the surrounding drivable space. The present application can address different scenarios involving target parallel parking spaces by first determining the corresponding parking starting point and then performing subsequent route planning, thereby reducing computational effort, reducing the number of parking changes, and improving parking efficiency and success rate.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to a method, device, vehicle, and storage medium for parking a vehicle in a parallel parking space. Background Art

[0002] With the rapid development of science and technology, the number of cars has been rising year by year. According to statistics, the national motor vehicle ownership has reached 340 million. However, the number and area of ​​parking lots do not match the increasing number of cars. The parking spaces designed in existing parking lots are relatively narrow and compact, which results in low parking success rate and difficulty in parking.

[0003] In related technologies, the available space of parking spaces is captured by devices such as cameras or radars, and vehicle parking is planned based on the available space, thereby achieving automatic parking of the vehicle, which can avoid parking failures caused by insufficient driver experience.

[0004] However, in the related technology, calculations and adjustments need to be made in real time based on the current position of the vehicle. The number of parking switching steps is large, the parking efficiency is poor, the computing power consumption is large, and the application scenarios are relatively single, which needs to be improved. Summary of the Invention

[0005] The present application provides a method, device, vehicle, and storage medium for parking a vehicle in a parallel parking space to solve technical problems in related technologies, such as a large number of parking switching steps, poor parking efficiency, high computing power consumption, and a relatively single application scenario.

[0006] A first aspect of the present application provides a method for parking a vehicle in a parallel parking space, comprising the following steps: constructing information of a space to be parked and surrounding drivable space based on a target parallel parking space; identifying a current parking scenario of the vehicle based on the information of the space to be parked and the surrounding drivable space, and determining a parking starting point corresponding to the current parking scenario; and after controlling the vehicle to travel to the parking starting point, executing a parallel parking action according to a parking planning path generated by the information of the space to be parked and the surrounding drivable space.

[0007] According to the above technical means, the embodiment of the present application can determine the current parking scenario of the vehicle based on the information of the parking space to be parked and the surrounding drivable space, so that corresponding path planning can be carried out according to different parking scenarios, and then the corresponding parking starting point can be determined, which facilitates subsequent path planning, reduces the number of parking step changes, improves parking efficiency, further realizes parking path planning, alleviates parking recognition caused by insufficient user experience, and enhances the user's parking experience.

[0008] Optionally, in one embodiment of the present application, executing the parallel parking action according to the parking planned path generated by the information of the to-be-parked space and the surrounding drivable space includes: when the current parking scenario is a scenario where there are obstacles both in front and behind the parking space, obtaining information on the contour clustering of a first front obstacle and a first rear obstacle; calculating the upper boundary, front and rear boundaries of the obstacles, and the width of the lane based on the information on the contour clustering; and generating the parking planned path based on the upper boundary, the boundaries, and the width of the lane.

[0009] According to the above technical means, the embodiment of the present application can perform parking planning for scenarios where there are obstacles both in front and behind the parking space, calculate the available parking space through information on obstacle contour clustering, and thus increase the parking success rate.

[0010] Optionally, in one embodiment of the present application, generating the planned parking path based on the upper boundary and front and rear boundaries of the front and rear obstacles and the width of the lane includes: obtaining a first driving arc of the planned parking path from a safety distance between the center of the right rear wheel of the vehicle and the left front corner of a first front obstacle; and obtaining a second driving arc of the planned parking path from a safety distance between the right front corner of the vehicle and the left rear corner of the first front obstacle.

[0011] According to the above technical means, the embodiment of the present application can plan the driving arc, achieve smooth parking of the vehicle, and reduce the number of parking step changes.

[0012] Optionally, in one embodiment of the present application, executing the parallel parking action according to the parking planned path generated by the information of the to-be-parked space and the surrounding drivable space includes: when the current parking scenario is a scenario where there is an obstacle in front of the parking space, generating the parking planned path based on information of a contour cluster of a second front obstacle.

[0013] According to the above technical means, the embodiment of the present application can generate a corresponding planned path for the scenario where there is an obstacle in front of the parking space, thereby increasing the success rate of parking.

[0014] Optionally, in one embodiment of the present application, executing the parallel parking action according to the parking planned path generated by the information of the to-be-parked space and the surrounding drivable space includes: when the current parking scenario is a scenario where there is an obstacle behind the parking space, generating the parking planned path according to information of a second thick obstacle contour cluster.

[0015] According to the above technical means, the embodiment of the present application can generate a corresponding planned path for the scenario where there is an obstacle behind the parking space, thereby increasing the success rate of parking.

[0016] A second embodiment of the present application provides a vehicle parking device for a parallel parking space, comprising: a construction module for constructing information about a space to be parked and a surrounding drivable space based on a target parallel parking space; an identification module for identifying a current parking scenario of the vehicle based on the information about the space to be parked and the surrounding drivable space, and determining a parking starting point corresponding to the current parking scenario; and a control module for executing a parallel parking action according to a parking planning path generated by the information about the space to be parked and the surrounding drivable space after controlling the vehicle to travel to the parking starting point.

[0017] Optionally, in one embodiment of the present application, the control module includes: an acquisition unit, configured to acquire contour clustering information of a first front obstacle and a first rear obstacle when the current parking scene is a scene where there are obstacles both in front and behind the parking space; a calculation unit, configured to calculate the upper boundary and front and rear boundaries of the obstacle and the width of the lane based on the contour clustering information; and a first generation unit, configured to generate the planned parking path based on the upper boundary, the boundaries and the width of the lane.

[0018] Optionally, in one embodiment of the present application, the first generating unit is further used to obtain a first driving arc of the planned parking path from a safety distance between the center of the right rear wheel of the vehicle and the left front corner point of the first front obstacle; and to obtain a second driving arc of the planned parking path from a safety distance between the right front corner of the vehicle and the left rear corner point of the first front obstacle.

[0019] Optionally, in one embodiment of the present application, the control module includes: a second generating unit, configured to generate the parking planning path according to information of a contour cluster of a second front obstacle when the current parking scenario is a scenario in which there is an obstacle in front of the parking space.

[0020] Optionally, in one embodiment of the present application, the control module includes: a third generating unit, configured to generate the parking planning path according to information of the second thick obstacle contour clustering when the current parking scene is a scene where there is an obstacle behind the parking space.

[0021] A third aspect of the present application provides a vehicle, 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 the vehicle parking method in a parallel parking space as described in the above embodiment.

[0022] A fourth aspect of the present application provides a computer-readable storage medium, which stores a computer program. When the program is executed by a processor, it implements the above-mentioned method for parking a vehicle in a side parking space.

[0023] Beneficial effects of the embodiments of the present application:

[0024] (1) The embodiment of the present application can first determine the corresponding parking starting point and then perform subsequent route planning, thereby reducing the amount of calculation, reducing the number of parking step changes, and improving parking efficiency;

[0025] (2) The embodiments of the present application can perform corresponding parking planning for different parking space scenarios, thereby increasing the success rate of parking and compensating for parking failures caused by users' lack of parking experience.

[0026] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0028] Figure 1 A flowchart of a method for parking a vehicle in a parallel parking space provided according to an embodiment of the present application;

[0029] Figure 2 Schematic diagram of a narrow space parallel parking scenario of a vehicle parking method in a parallel parking space according to one embodiment of the present application;

[0030] Figure 2 a is a schematic diagram of a narrow side parking scenario with obstacles both in front and behind the parking space according to one embodiment of the present application;

[0031] Figure 2 b is a schematic diagram of a narrow side parking scenario with an obstacle in front of the parking space according to one embodiment of the present application;

[0032] Figure 2 c is a schematic diagram of a narrow side parking scenario with an obstacle behind the parking space according to one embodiment of the present application;

[0033] Figure 3 A schematic diagram of a parking plan for a vehicle in a narrow parallel parking space according to a method for parking a vehicle in a parallel parking space according to one embodiment of the present application;

[0034] Figure 3 a is a schematic diagram of a narrow side parking space planning with obstacles both in front and behind the parking space according to one embodiment of the present application;

[0035] Figure 3 b is a schematic diagram of a narrow side parking space planning with an obstacle in front of the parking space according to one embodiment of the present application;

[0036] Figure 3c is a schematic diagram of a narrow side parking space planning with an obstacle behind the parking space according to one embodiment of the present application;

[0037] Figure 4 This is a flow chart of a method for parking a vehicle in a parallel parking space according to one embodiment of the present application;

[0038] Figure 5 A schematic structural diagram of a vehicle parking device for a side parking space provided according to an embodiment of the present application;

[0039] Figure 6 A schematic structural diagram of a vehicle provided according to an embodiment of the present application.

[0040] Among them, 10 is a vehicle parking device for a side parking space; 100 is a construction module, 200 is an identification module, and 300 is a control module. DETAILED DESCRIPTION

[0041] The following describes in detail embodiments of the present application, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0042] The following describes the method, device, vehicle, and storage medium for parking a vehicle in a side parking space according to an embodiment of the present application with reference to the accompanying drawings. In response to the technical problems mentioned in the above background technology center, such as the large number of parking switching steps, poor parking efficiency, large computing power consumption, and relatively single application scenarios, the present application provides a method for parking a vehicle in a side parking space. In this method, the current parking scene of the vehicle can be determined based on the information of the parking space to be parked and the surrounding drivable space, so that corresponding path planning can be performed according to different parking scenes, and then the corresponding parking starting point can be determined, which facilitates subsequent path planning, reduces the number of parking step changes, improves parking efficiency, further realizes parking path planning, alleviates parking recognition caused by insufficient user experience, and enhances the user's parking experience. As a result, the technical problems in the related technology, such as the large number of parking switching steps, poor parking efficiency, large computing power consumption, and relatively single application scenarios, are solved.

[0043] Specifically, Figure 1 A flowchart of a method for parking a vehicle in a parallel parking space provided in an embodiment of the present application.

[0044] like Figure 1 As shown, the method for parking a vehicle in a side parking space includes the following steps:

[0045] In step S101 , information of a parking space to be parked and surrounding drivable space are constructed based on the target side parking space.

[0046] During the actual implementation process, the embodiment of the present application can collect the target side parking space information through collection equipment, such as cameras, ultrasonic radars, etc., and then construct the parking space information and the surrounding drivable space.

[0047] For example, the embodiment of the present application can perceive the environment around the vehicle through a sensor solution of 4 high-definition global cameras + 12 ultrasonic radars + 5 millimeter-wave radars + 1 forward-looking camera in the body layout, provide obstacle FreeSpace and cluster clustering information, and based on the obstacle clustering information, obtain the lane width W and the boundary contours of the front and rear obstacles, and then carry out path planning.

[0048] In step S102 , the current parking scenario of the vehicle is identified based on the information of the parking space to be parked and the surrounding drivable space, and a parking starting point corresponding to the current parking scenario is determined.

[0049] Specifically, if Figure 2 As shown, the embodiment of the present application can identify the current parking scene of the vehicle based on the parking space information and the surrounding drivable space, such as Figure 2 a is a scenario where there are obstacles in front and behind the parking space. Figure 2 b and Figure 2 c is a scenario where there is an obstacle on only one side of the parking space. The four corner points of the vehicle are defined as: the vehicle is horizontal, the front of the vehicle is facing right, right rear A, right front B, left rear J, left front K; left arc l, right arc r.

[0050] Furthermore, based on the current parking scenario of the vehicle, the embodiment of the present application can determine the parking starting point corresponding to the current parking scenario, thereby preventing the vehicle from getting stuck with surrounding obstacles when directly entering the parking lot, thereby increasing the parking time.

[0051] In step S103 , after the vehicle is controlled to travel to the parking starting point, a parallel parking action is performed according to a parking planning path generated based on the information of the parking space to be parked and the surrounding drivable space.

[0052] As a possible implementation method, the embodiment of the present application can, after controlling the vehicle to drive to the parking starting point, plan a parking path based on the information of the parking space to be parked and the surrounding drivable space, and control the vehicle to perform the parallel parking action. It can perform corresponding path planning according to different parking scenarios, and then determine the corresponding parking starting point, which is convenient for subsequent path planning, reduces the number of parking step changes, improves parking efficiency, further realizes parking path planning, alleviates parking recognition caused by insufficient user experience, and enhances the user's parking experience.

[0053] Optionally, in one embodiment of the present application, a parallel parking action is performed according to a parking planning path generated based on information about the parking space to be parked and the surrounding drivable space, including: when the current parking scenario is a scenario where there are obstacles both in front and behind the parking space, obtaining information on the contour clustering of the first front obstacle and the first rear obstacle; calculating the upper boundary, front and rear boundaries of the obstacles, and the width of the lane based on the contour clustering information; and generating a parking planning path based on the upper boundary, the boundaries, and the width of the lane.

[0054] In some embodiments, as Figure 3 As shown, Figure 3 a is Figure 2 a is a schematic diagram of a vehicle entry path in a scenario where there are obstacles in front and behind the parking space. The sensors arranged on the vehicle body of the embodiment of the present application can detect surrounding obstacles and provide information on the obstacle contour clustering. Based on the obstacle clustering information, the upper boundary and front and rear boundaries of the front and rear obstacles and the width W of the lane are calculated, and then attention is paid to collision avoidance when planning the parking path.

[0055] Optionally, in one embodiment of the present application, a parking planning path is generated based on the upper boundary and front and rear boundaries of the front and rear obstacles and the width of the lane, including: obtaining a first driving arc of the parking planning path from a safety distance between the center of the right rear wheel of the vehicle and the left front corner point of the first front obstacle; and obtaining a second driving arc of the parking planning path from a safety distance between the right front corner of the vehicle and the left rear corner point of the first front obstacle.

[0056] As a possible way to achieve this, Figure 3 As shown in a, when the vehicle is located at position a (close to the open lane) or position b (close to the front obstacle obj2), the embodiment of the present application can plan 1D to drive to position d (parking starting point) to avoid the vehicle's left front corner K colliding with the open lane or the obstacle (obj1) in front of the vehicle's right rear corner A when entering the garage directly. Then the garage entry path can be planned. The first arc section of the vehicle entering the garage can consider the safe distance between the center of the right rear wheel of the vehicle and the left front corner of the front obstacle (obj1). The second arc section of the vehicle entering the garage can consider a certain safe distance between the right front corner B of the vehicle and the left rear corner of the front obstacle (obj1) to ensure that the vehicle can pass safely.

[0057] Optionally, in one embodiment of the present application, a parallel parking action is performed according to a parking planning path generated based on information about the parking space to be parked and the surrounding drivable space, including: when the current parking scenario is a scenario where there is an obstacle in front of the parking space, generating a parking planning path based on information about a clustered outline of a second front obstacle.

[0058] In the actual implementation process, Figure 3 As shown, Figure 3 b is Figure 2 b is the scene where there is an obstacle in front of the parking space. Figure 2 In scenario a, the path planning for collision avoidance between the lane and the obstacle in front (obj1) and the required lane width are different. When the vehicle body sensor detects that there is only an obstacle (obj1) in front of the parking space, and the vehicle is at a certain distance S from the lane at this time, the vehicle can move forward to enter the parking space after backing up to the parking starting point without having to consider collision avoidance.

[0059] Optionally, in one embodiment of the present application, a parallel parking action is performed according to a parking planning path generated based on information about the parking space to be parked and the surrounding drivable space, including: when the current parking scenario is a scenario where there is an obstacle behind the parking space, a parking planning path is generated based on information of a second thick obstacle contour cluster.

[0060] It is understandable that when the current parking scenario is a scenario where there is an obstacle behind the parking space, the basic planning principle is the same as when the current parking scenario is a scenario where there is an obstacle in front of the parking space, such as Figure 3 c, where Figure 3 c is Figure 3 c is a parking scene where there is an obstacle behind the parking space.

[0061] Combine Figures 2 to 4 As shown, the working principle of the vehicle parking method for a side parking space according to an embodiment of the present application is described in detail using an embodiment.

[0062] like Figure 4 As shown, the embodiment of the present application may include the following steps:

[0063] Step S401: Determine whether to activate and divide the corresponding scenarios. When the vehicle parking activation system is activated, the embodiment of the present application can perceive the environment around the vehicle through the sensor solution of 4 high-definition global cameras + 12 ultrasonic radars + 5 millimeter-wave radars + 1 forward-looking camera arranged on the vehicle body, and provide obstacle FreeSpace and cluster clustering information. Based on the obstacle clustering information, the lane width W and the boundary contours of the front and rear obstacles can be determined, and then the application scenarios can be divided and path planning can be carried out.

[0064] Step S402: scene a. Figure 2 As shown in a, scene a is a parking scene with obstacles in front and behind the parking space.

[0065] Step S403: Scene b. Figure 2 As shown in b, scene b is a parking scene with obstacles in front and behind the parking space.

[0066] Step S404: c scene. Figure 2 As shown in c, scene c is a parking scene with obstacles in front and behind the parking space.

[0067] Step S405: Activate the vehicle and control it to travel along the planned path. This embodiment of the application can determine the corresponding parking scenario based on the presence of front and rear obstacles. Based on different parking scenarios, the vehicle calculates the parking starting point based on the distance from the vehicle to the lane and the front obstacle. The vehicle then drives to the parking starting point and executes the three-stage parking path planning.

[0068] Specifically, after the vehicle enters the garage, the vehicle is shifted into D gear to adjust the vehicle's position and move to a preset distance from the obstacle in front.

[0069] The four corner points of the vehicle are defined as: Figure 2 and Figure 3 For example, if the vehicle is horizontal and facing right, with right rear A, right front B, left rear J, and left front K; the left side is arc l and the right side is arc r, then the turning radius of each corner point is as follows:

[0070]

[0071]

[0072]

[0073] R w =rb

[0074]

[0075]

[0076]

[0077]

[0078]

[0079] Among them, r is the minimum turning radius, b is half of the vehicle width, a is the wheelbase, dfront is the front overhang distance, drear is the rear overhang distance, and Rw represents the turning radius of the inner wheel.

[0080] For the path planning of the front parking, according to the scene Figure 2 a. In the embodiment of the present application, the safe distance between the left front corner K of the vehicle and the lane, the right wheel boundary and the left front corner point P1 of the obstacle in front of the parking space can be determined during the parking process.

[0081] by Figure 3Taking the parking trajectory diagram of vehicle a as an example, the vehicle contours a, b, and c are different starting postures, respectively. Contour a indicates that the vehicle is close to the lane, contour b indicates that the vehicle is close to the front obstacle (obj1), and contour c indicates that the vehicle is in a suitable position. Contour d indicates that the vehicle travels to the parking starting point through the corresponding forward path planning. The path planning of the vehicle from contour a / b to the parking starting point is based on the anti-circular path with the minimum turning radius r planned while ensuring the lateral safety distance S (calibrated) from obj1 and the lane W. That is, arc + straight line + arc, where the distance of the straight line is calibrated. The vehicle travels from contour c to the parking starting point d, and only needs to plan a straight line when the vehicle is flat. When the vehicle reaches the parking starting point d, the parking path can be planned. Before planning, in order to avoid collision and jamming with obstacle P1, the obstacle P1 can be expanded outward and leftward to form a new P1*, and then the path planning is carried out based on the new P1*, where e is the starting point of the vehicle at the first arc (the end point of the first straight line). The Y coordinate of this point is the same as the Y coordinate of the parking starting point d. The calculation method of the X coordinate of this point will be explained later. Then, the parking arc path is reversed from the parking end point h. When planning the path, it is necessary to ensure that the right front corner B of the vehicle avoids collision with P1*. At this time, the vehicle turns with the minimum turning radius r, and the starting point g of the second arc (the end point of the second straight line) can be deduced. ), under the condition that the Y coordinate of the parking starting point is known, by calibrating the distance of the middle straight line, the slope of the straight line can be calculated from the posture of point g and the Y coordinate of point d. When the vehicle posture angle at the end of the first arc is required to be 0, the cly of the center point of the first arc can be obtained, and then the y-coordinate fy of the starting point f of the second straight line can be obtained. Substituting it into the straight line equation can obtain fx, and finally point f (the end point of the first arc) can be obtained. Based on the condition that the vehicle turns with the minimum turning radius and the vehicle posture angle at the end of the first arc is 0, the e of the starting point of the first arc can be obtained (the end point of the first straight line, the X coordinate of e can be obtained). So far, the narrow space side parking scene Figure 2 The straight line + arc + straight line + arc path planning of a is completed.

[0082] Targeted scenarios Figure 2 The path planning of b is as follows Figure 3 b. Under the condition that the vehicle turns with the minimum turning radius r, based on the difference between the y coordinate of the parking end position and the y coordinate of the vehicle starting point position a, the path of arc + straight line + arc can be reversely planned when the straight line length is calibrated to obtain the coordinates of the vehicle contour b. At the same time, the backward path from position a to position b can be planned.

[0083] Targeted scenarios Figure 2 The path planning of c is as follows Figure 3c. Calculate the y-axis difference between the vehicle's starting position a and the vehicle's final position b. Under the conditions of calibrating the straight line length and the vehicle turning with the minimum turning radius r, the forward arc + straight line + arc path and the coordinates of point c can be planned. Finally, the straight line backward path from point c to point b can be planned.

[0084] Step S406: Determine whether parking is completed. In this embodiment of the application, the vehicle body sensor can be used to determine whether parking is completed.

[0085] Step S407: Park the vehicle.

[0086] Step S408: Determine whether other functions are enabled.

[0087] Step S409: The system exits.

[0088] Step S410: Wait for other functions to be enabled.

[0089] The method for parking a vehicle in a parallel parking space proposed in an embodiment of the present application can determine the vehicle's current parking scenario based on the information about the parking space to be parked and the surrounding drivable space. This allows for path planning based on different parking scenarios, and further determines the corresponding parking starting point, facilitating subsequent path planning. This reduces the number of parking switching steps, improves parking efficiency, further implements parking path planning, alleviates parking recognition issues caused by insufficient user experience, and enhances the user's parking experience. This solves the technical problems of related technologies, such as the high number of parking switching steps, poor parking efficiency, high computing power consumption, and relatively limited application scenarios.

[0090] Next, a vehicle parking device for a side parking space according to an embodiment of the present application will be described with reference to the accompanying drawings.

[0091] Figure 5 2 is a block diagram of a vehicle parking device for a side parking space according to an embodiment of the present application.

[0092] like Figure 5 As shown, the vehicle parking device 10 for a side parking space includes: a construction module 100 , a recognition module 200 and a control module 300 .

[0093] Specifically, the construction module 100 is used to construct the parking space information and the surrounding drivable space based on the target side parking space.

[0094] The recognition module 200 is configured to recognize the current parking scenario of the vehicle based on the information of the parking space to be parked and the surrounding drivable space, and determine the parking starting point corresponding to the current parking scenario.

[0095] The control module 300 is used to control the vehicle to drive to the parking starting point and then perform a parallel parking action according to a parking planning path generated based on the parking space information and the surrounding drivable space.

[0096] Optionally, in one embodiment of the present application, the control module 300 includes: an acquisition unit, a calculation unit, and a first generation unit.

[0097] The acquiring unit is configured to acquire the information of the contour clustering of the first front obstacle and the first rear obstacle when the current parking scene is a scene where there are obstacles both in front and behind the parking space.

[0098] The calculation unit is used to calculate the upper boundary, front and rear boundaries of the obstacle and the width of the lane according to the information of the contour clustering.

[0099] The first generating unit is used to generate a parking planning path according to the upper boundary, the boundary and the width of the lane.

[0100] Optionally, in one embodiment of the present application, the first generation unit is further used to obtain a first driving arc of the planned parking path from a safety distance between the center of the right rear wheel of the vehicle and the left front corner point of the first front obstacle; and to obtain a second driving arc of the planned parking path from a safety distance between the right front corner of the vehicle and the left rear corner point of the first front obstacle.

[0101] Optionally, in one embodiment of the present application, the control module 300 includes: a second generating unit.

[0102] The second generating unit is configured to generate a parking planning path according to information of a cluster of contours of a second front obstacle when the current parking scenario is a scenario where there is an obstacle in front of the parking space.

[0103] Optionally, in one embodiment of the present application, the control module 300 includes: a third generating unit.

[0104] The third generating unit is configured to generate a parking planning path according to the information of the second thick obstacle contour clustering when the current parking scene is a scene where there is an obstacle behind the parking space.

[0105] It should be noted that the above explanations of the embodiment of the method for parking a vehicle in a side parking space are also applicable to the parking device for a vehicle in a side parking space of this embodiment, and will not be repeated here.

[0106] The parallel parking device proposed in the embodiments of the present application can determine the vehicle's current parking scenario based on the information about the parking space to be parked and the surrounding drivable space. This allows for path planning based on different parking scenarios, and further determines the corresponding parking starting point, facilitating subsequent path planning. This reduces the number of parking switching steps, improves parking efficiency, further implements parking path planning, alleviates parking recognition issues caused by insufficient user experience, and enhances the user's parking experience. This solves the technical problems of related technologies, such as the high number of parking switching steps, poor parking efficiency, high computing power consumption, and relatively limited application scenarios.

[0107] Figure 6 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle may include:

[0108] A memory 601 , a processor 602 , and a computer program stored in the memory 601 and executable on the processor 602 .

[0109] When the processor 602 executes the program, the method for parking a vehicle in a parallel parking space provided in the above embodiment is implemented.

[0110] Furthermore, the vehicle further comprises:

[0111] The communication interface 603 is used for communication between the memory 601 and the processor 602 .

[0112] The memory 601 is used to store computer programs that can be run on the processor 602 .

[0113] The memory 601 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0114] If the memory 601, processor 602, and communication interface 603 are implemented independently, the communication interface 603, memory 601, and processor 602 can be connected to each other via a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0115] Optionally, in a specific implementation, if the memory 601, the processor 602 and the communication interface 603 are integrated on a chip, the memory 601, the processor 602 and the communication interface 603 can communicate with each other through an internal interface.

[0116] The processor 602 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0117] This embodiment further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned method for parking a vehicle in a parallel parking space.

[0118] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0119] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this application, "N" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0120] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing a custom logical function or process step, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed in a different order than shown or discussed, including performing functions in a substantially simultaneous manner or in a reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application pertain.

[0121] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or N wires (electronic devices), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program can be obtained electronically by optically scanning the paper or other medium and then editing, interpreting or processing it in other suitable ways as necessary, and then storing it in a computer memory.

[0122] It should be understood that various parts of the present application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiment, the N steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0123] Those skilled in the art will understand that all or part of the steps in the method of the above embodiment can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0124] In addition, the functional units in the various embodiments of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into a module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0125] The storage medium mentioned above may be a read-only memory, a magnetic disk, or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application. Persons skilled in the art may make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A method for parking a vehicle in a side parking space, characterized in that: The following steps are involved: Construct parking space information and surrounding drivable space based on the target side parking space; Identifying a current parking scenario of the vehicle based on the parking space information and the surrounding drivable space, and determining a parking starting point corresponding to the current parking scenario; performing corresponding path planning based on different current parking scenarios to determine the corresponding parking starting point; and after controlling the vehicle to travel to the parking starting point, executing a parallel parking action according to a parking planning path generated based on the to-be-parked space information and the surrounding drivable space; Path planning is performed according to different current parking scenarios to determine the corresponding parking starting point. This includes, when the current parking scenario involves obstacles both in front of and behind the parking space, generating a parking path based on the upper and rear boundaries of the front and rear obstacles and the width of the lane. When the current parking scenario is a scenario where there is only an obstacle in front of the parking space, the vehicle backs up to the parking starting point and moves forward into the parking space; When the current parking scenario is a scenario where only an obstacle exists behind the parking space, the parking plan path is generated according to information of the clustering of the outlines of the rear obstacles.

2. The method according to claim 1, characterized in that The performing of the parallel parking operation according to the parking planning path generated based on the information of the parking space to be parked and the surrounding drivable space includes: When the current parking scene is a scene where there are obstacles in front and behind the parking space, obtaining information on the outline clustering of the front obstacle and the rear obstacle; Calculating the upper boundary, front and rear boundaries of the obstacle and the width of the lane based on the information of the contour clustering; The parking planning path is generated according to the upper boundary, the boundary and the width of the lane.

3. The method according to claim 2, characterized in that Generating the parking planning path according to the upper boundary and the front and rear boundaries of the front and rear obstacles and the width of the lane includes: Obtaining a first segment of the driving arc of the planned parking path based on a safe distance between a center of a right rear wheel of the vehicle and a left front corner point of a front obstacle; The second driving arc of the planned parking path is obtained from the safety distance between the right front corner of the vehicle and the left rear corner point of the front obstacle.

4. The method according to claim 1, wherein The performing of the parallel parking operation according to the parking planning path generated based on the information of the parking space to be parked and the surrounding drivable space includes: When the current parking scenario is a scenario where there is only an obstacle in front of the parking space, the parking plan path is generated according to information of clustering of outlines of the obstacles in front.

5. A parking device for a vehicle in a side parking space, characterized in that: include: A construction module is used to construct parking space information and surrounding drivable space based on the target side parking space; an identification module for identifying a current parking scenario of the vehicle based on the parking space information and the surrounding drivable space, determining a parking starting point corresponding to the current parking scenario, performing corresponding path planning based on different current parking scenarios, and determining a corresponding parking starting point; as well as a control module, configured to control the vehicle to drive to the parking starting point and then execute a parallel parking action according to a parking planning path generated based on the parking space information and the surrounding drivable space; Path planning is performed according to different current parking scenarios to determine the corresponding parking starting point. This includes, when the current parking scenario involves obstacles both in front of and behind the parking space, generating a parking path based on the upper and rear boundaries of the front and rear obstacles and the width of the lane. When the current parking scenario is a scenario where there is only an obstacle in front of the parking space, the vehicle backs up to the parking starting point and moves forward into the parking space; When the current parking scenario is a scenario where only an obstacle exists behind the parking space, the parking plan path is generated according to information of the clustering of the outlines of the rear obstacles.

6. The device according to claim 5, characterized in that The control module includes: an acquiring unit, configured to acquire information on the clustering of the outlines of the front obstacle and the rear obstacle when the current parking scene is a scene where there are obstacles both in front and behind the parking space; A calculation unit is used to calculate the upper boundary, front and rear boundaries of the obstacle and the width of the lane according to the information of the contour clustering; a first generation unit is used to generate the parking planning path according to the upper boundary, front and rear boundaries and the width of the lane.

7. The device according to claim 6, characterized in that The first generation unit is further used to obtain a first driving arc of the planned parking path based on a safety distance between the center of the right rear wheel of the vehicle and the left front corner point of the front obstacle; and to obtain a second driving arc of the planned parking path based on a safety distance between the right front corner of the vehicle and the left rear corner point of the front obstacle.

8. A vehicle, characterized in that: include: 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 the method for parking a vehicle in a parallel parking space as described in any one of claims 1 to 4.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the vehicle parking method in a parallel parking space as described in any one of claims 1 to 4.

Images