A parking method, apparatus, device, and storage medium for avoiding obstacles.

Abstract

This application discloses a parking method, apparatus, device, and storage medium for obstacle avoidance, relating to the field of intelligent driving technology. The method includes: when a vehicle is detected to have traveled to the starting position of a parking path, acquiring first obstacle information; if, based on the first obstacle information, it is determined that parking conditions are met from the starting position to the target parking space, then generating a first user interface; wherein the first user interface is used to display a navigation environment map showing the endpoint position from the starting position to the target parking space; controlling the vehicle to travel towards the target parking space based on the navigation environment map; when the vehicle travels to the surrounding environment of the target parking space, acquiring second obstacle information; updating the navigation environment map displayed on the first user interface based on the second obstacle information, and controlling the vehicle to complete parking according to the endpoint position displayed in the updated navigation environment map.

Description

Technical Field

[0001] This application relates to the field of intelligent driving technology, and in particular to a parking method, apparatus, device, and storage medium for avoiding obstacles. Background Technology

[0002] With the development of intelligent driving technology, automatic parking systems are being used more and more widely in automobiles. An automatic parking system is a system that can automatically park or exit a vehicle by controlling mechanisms such as steering, braking, and gear shifting, thereby freeing the driver's (user's) hands and feet, reducing the stress of driving, and improving the user experience. Figure 1 As shown, the specific process may include the following:

[0003] First, four fisheye surround-view cameras (also known as surround-view cameras) and twelve ultrasonic radars installed around the vehicle are used to detect the parking environment. The detection includes different types of parking spaces and information on obstacles / pedestrians in the parking path. Then, the fisheye surround-view cameras and ultrasonic radars transmit the detected information to the parking controller. Based on the detected information, the controller plans the optimal parking path and controls the vehicle's steering system, power system, braking system, and body control system directly or indirectly to control the vehicle's steering wheel, torque increase and start, deceleration and braking, lights, etc. At the same time, the real-time parking status is fed back to the driver through the human-machine interface.

[0004] However, in real-world parking scenarios, there may be suspended obstacles on the walls near the parking space, such as fire-fighting equipment, pipes, or signs. In such cases, since surround-view cameras and ultrasonic radar are the main sensors used in automatic parking functions, they cannot effectively detect obstacles in the parking space and surrounding environment when the obstacle is suspended. This can lead to the inability to release the vehicle from the obstacle, potentially causing a collision and reducing the user experience.

[0005] Therefore, improving the accuracy of obstacle avoidance during parking is an urgent problem to be solved. Summary of the Invention

[0006] This application discloses a parking method for avoiding obstacles, which improves the accuracy of obstacle avoidance.

[0007] Firstly, a parking method for avoiding obstacles is provided, including:

[0008] When the vehicle is detected to have reached the starting position of the parking path, first obstacle information is acquired. If, based on the first obstacle information, it is determined that the parking conditions from the starting position to the target parking space are met, a first user interface is generated. The first user interface displays a navigation environment map showing the endpoint from the starting position to the target parking space. Based on the navigation environment map, the vehicle is controlled to drive towards the target parking space. When the vehicle reaches the surrounding environment of the target parking space, second obstacle information is acquired. Based on the second obstacle information, the navigation environment map displayed on the first user interface is updated, and the vehicle is controlled to complete parking according to the endpoint position shown in the updated navigation environment map.

[0009] In one possible implementation, the first obstacle information is determined by a surround-view camera and / or ultrasonic radar on the vehicle; the second obstacle information is determined by information fusion of the surround-view camera, ultrasonic radar, millimeter-wave radar, and lidar on the vehicle.

[0010] In one possible implementation, updating the navigation environment map displayed on the first user interface based on the second obstacle information includes:

[0011] If, based on the second obstacle information, it is determined that there are static obstacles in the surrounding environment of the target parking space, then a first distance between the static obstacle and the destination position is determined; it is then determined whether the first distance meets a safe preset distance; if not, the navigation environment map displayed on the first user interface is updated; if so, the vehicle is controlled to complete parking according to the destination position.

[0012] In one possible implementation, the method further includes:

[0013] If, based on the first obstacle information, it is determined that the parking conditions from the starting position to the target parking space are not met, then the system detects whether there is a first vacant parking space in the surrounding environment of the vehicle. If so, a second user interface is generated, and in response to a user operation that selects the first vacant parking space on the second user interface, the system controls the vehicle to drive towards the first vacant parking space. If not, the system controls the vehicle to stop parking for a set time period.

[0014] In one possible implementation, after controlling the vehicle to complete parking, the method further includes:

[0015] Output a parking success message, which indicates that the vehicle has been successfully parked.

[0016] Secondly, a parking device for avoiding obstacles is provided, including: a control module, an acquisition module, and a display module;

[0017] The control module is configured to: instruct the acquisition module to acquire first obstacle information when it detects that the vehicle has traveled to the starting position of the parking path; instruct the display module to generate a first user interface if, based on the first obstacle information, it is determined that the parking conditions from the starting position to the target parking space are met; control the vehicle to drive towards the target parking space based on the navigation environment map; instruct the acquisition module to acquire second obstacle information when the vehicle travels to the surrounding environment of the target parking space; instruct the display module to update the navigation environment map displayed on the first user interface based on the second obstacle information, and control the vehicle to complete parking according to the endpoint position displayed in the updated navigation environment map; the acquisition module is configured to acquire the first obstacle information and the second obstacle information according to the instruction of the control module; the display module is configured to generate a first user interface according to the instruction of the control module; wherein the first user interface is configured to display a navigation environment map from the starting position to the endpoint position of the target parking space; and to update the navigation environment map displayed on the first user interface based on the second obstacle information.

[0018] In one possible implementation, the first obstacle information is determined by a surround-view camera and / or ultrasonic radar on the vehicle; the second obstacle information is determined by information fusion of the surround-view camera, ultrasonic radar, millimeter-wave radar, and lidar on the vehicle.

[0019] In one possible implementation, the control module is specifically used for:

[0020] If, based on the second obstacle information, it is determined that there are static obstacles in the surrounding environment of the target parking space, then a first distance between the static obstacle and the destination position is determined; it is then determined whether the first distance meets a safe preset distance; if not, the display module is instructed to update the navigation environment map displayed on the first user interface; if so, the vehicle is controlled to complete parking according to the destination position.

[0021] In one possible implementation, the control module is further configured to:

[0022] If, based on the first obstacle information, it is determined that the parking conditions from the starting position to the target parking space are not met, then the system detects whether there is a first vacant parking space in the surrounding environment of the vehicle. If so, the system instructs the display module to generate a second user interface, and in response to a user operation that selects the first vacant parking space in the second user interface, controls the vehicle to drive towards the first vacant parking space. If not, the system controls the vehicle to stop parking for a set time period.

[0023] In one possible implementation, the device further includes a notification module;

[0024] The notification module is used to output a parking success message, which indicates that the vehicle has been successfully parked.

[0025] Thirdly, an electronic device is provided, comprising:

[0026] A memory for storing computer programs; a processor for executing the computer programs stored in the memory to implement the method steps described in any one of the first aspects.

[0027] Fourthly, a computer-readable storage medium is provided, wherein a computer program is stored therein, and when executed by a processor, the computer program implements the steps of the method described in any one of the first aspects.

[0028] In this embodiment, when the vehicle is detected to have reached the starting position of the parking path, first obstacle information is acquired. If the parking conditions from the starting position to the target parking space are met based on the first obstacle information, a first user interface is generated. This first user interface displays a navigation environment map showing the endpoint from the starting position to the target parking space. Based on the navigation environment map, the vehicle is controlled to drive towards the target parking space, thus effectively avoiding obstacles and preventing collisions. Furthermore, when the vehicle reaches the surrounding environment of the target parking space, second obstacle information is acquired. Based on the second obstacle information, the navigation environment map displayed on the first user interface is updated, and the vehicle is controlled to complete parking according to the endpoint shown in the updated navigation environment map. Therefore, based on the acquired second obstacle information, obstacles can be extracted from the surrounding environment of the target parking space, allowing sufficient lateral safety distance to be reserved in advance for overhead objects, further improving the accuracy of obstacle avoidance, thereby improving the safety of automatic parking and satisfying the user experience.

[0029] For the various aspects of the second to fourth aspects mentioned above, and the technical effects that each aspect may achieve, please refer to the above description of the technical effects that can be achieved for the first aspect or the various possible solutions in the first aspect, which will not be repeated here. Attached Figure Description

[0030] Figure 1 A schematic diagram illustrating the logic of parking by avoiding existing obstacles;

[0031] Figure 2 A flowchart illustrating a parking method for avoiding obstacles, as provided in this application embodiment;

[0032] Figure 3 A schematic diagram of a first user interface provided in an embodiment of this application;

[0033] Figure 4 A schematic diagram of an updated first user interface provided for an embodiment of this application;

[0034] Figure 5 A logic diagram illustrating obstacle avoidance for parking provided in an embodiment of this application;

[0035] Figure 6 A schematic diagram of a parking device for avoiding obstacles provided in an embodiment of this application;

[0036] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. The specific operational methods in the method embodiments can also be applied to the device embodiments or system embodiments. It should be noted that in the description of this application, "multiple" is understood as "at least two". "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. A connected to B can represent: A and B directly connected, and A and B connected through C. Furthermore, in the description of this application, terms such as "first" and "second" are used only for distinguishing the purpose of description and should not be construed as indicating or implying relative importance or order.

[0038] During automatic parking, the detection performance of surround-view cameras is greatly limited in some underground parking lots or parking scenarios with low lighting. In order to ensure the detection capability of low obstacles, surround-view cameras and ultrasonic radars are generally installed at a low position on the vehicle, which cannot effectively detect tall objects, such as when there are suspended obstacles near the parking space where the vehicle needs to be parked.

[0039] Therefore, embodiments of this application provide a parking method for avoiding obstacles, in order to improve the accuracy of obstacle avoidance.

[0040] The technical solutions provided in the embodiments of this application will be further explained below in conjunction with the accompanying drawings and specific implementation methods. Although the embodiments of this application provide method operation steps as shown in the following embodiments or drawings, the method may include more or fewer operation steps based on conventional or non-inventive methods. In steps where there is no logically necessary causal relationship, the execution order of these steps is not limited to the execution order provided in the embodiments of this application. In actual processing or when the device executes the method, it may be executed in the order shown in the embodiments or drawings, or in combination.

[0041] Figure 2 This is a flowchart illustrating a parking method for avoiding obstacles, provided in an embodiment of this application. This process can be executed by an obstacle-avoidance parking device, which can be implemented in software, hardware, or a combination of both. As shown in the figure, the process includes the following steps:

[0042] 201: When the vehicle is detected to have traveled to the starting position of the parking path, obtain the first obstacle information.

[0043] Optionally, the first obstacle information can be determined by the vehicle's surround-view camera, the vehicle's ultrasonic radar, or by information fusion of the vehicle's surround-view camera and ultrasonic radar. This information is used to detect obstacle information (e.g., vehicles, pedestrians, animals, etc. in front / behind) on the parking path, thereby facilitating effective avoidance of the aforementioned dynamic obstacles.

[0044] Optionally, when the vehicle is detected to have reached the starting position of the parking path, a voice broadcast device and / or display device may be used to ask the user whether to activate the automatic parking function, so that the user can choose the parking method.

[0045] 202: Based on the first obstacle information mentioned above, determine whether the parking conditions are met from the starting position to the target parking space. If yes, proceed to 203; otherwise, use other strategies for parking.

[0046] Optionally, the parking conditions may include at least: whether there are pedestrians, animals, or other vehicles queuing for parking along the parking path from the starting position to the ending position, and whether the target parking space is vacant.

[0047] Optionally, other parking strategies can be employed, specifically: detecting whether there is a first available parking space in the surrounding environment of the vehicle; if so, generating a second user interface, responding to the user's operation of selecting the first available parking space on the second user interface, controlling the vehicle to drive towards the first available parking space, so that the user can choose other available parking spaces to park, flexibly changing the parking path of the vehicle; if not, controlling the vehicle to stop parking for a set time period, and at the same time, sounding the horn to remind the dynamic obstacle to move away; furthermore, after the set time period ends, obtaining the first obstacle information again to determine whether the parking conditions are met.

[0048] The user operation described above can be selected by touching the second user interface with the user's hand or by voice input. This application embodiment does not impose any limitations on this.

[0049] 203: Generate a first user interface that displays a navigation environment map showing the destination from the starting position to the target parking space.

[0050] Optionally, the first user interface can also be used to display a map of the surrounding real-world scene of the parking path. This navigation environment map can be located at the top layer of the first user interface and displayed as a floating window. Figure 3 The diagram illustrates an exemplary embodiment of a first user interface provided in this application. The first user interface 300 includes a real-world scene map of the vehicle entering a parking scenario and a floating window 301 for displaying a navigation environment map showing the vehicle's journey from its starting position to the target parking space, thereby facilitating real-time observation of the entire parking scenario and improving the user experience.

[0051] It should be noted that, Figure 3 The user interface diagram shown is only one example, and there may be other forms of user interface diagrams. This application does not limit the embodiments herein.

[0052] 204: Based on the navigation environment map above, control the vehicle to drive towards the target parking space.

[0053] In this step, when controlling the vehicle to move towards the target parking space, the road conditions of the parking scenario can be taken into account, such as the steepness of the slope, the turning angle, and the width of the road, to control the vehicle to move towards the target parking space at a safe and reasonable speed.

[0054] 205: When the vehicle drives to the surrounding environment of the target parking space, obtain information about the second obstacle.

[0055] Optionally, the second obstacle information is determined through information fusion by the surround cameras, ultrasonic radars, millimeter-wave radars, and lidar on the vehicle. Using the point cloud data output by the millimeter-wave radars and lidar, suspended obstacles such as fire-fighting facilities on the wall near the target parking space can be identified, and obstacle information outside the detection and perception ranges of the surround cameras and ultrasonic radars in the surrounding environment where the target parking space is located is output, realizing the fusion determination of the detection of the surrounding environment information of the target parking space, improving the detection accuracy of obstacles, and thus enhancing parking safety.

[0056] 206: Update the navigation environment map displayed on the first user interface according to the second obstacle information, and control the vehicle to complete parking according to the end position displayed in the updated navigation environment map.

[0057] Optionally, the navigation environment map displayed on the first user interface can be updated in the following manner: If it is determined according to the second obstacle information that there are static obstacles in the surrounding environment where the target parking space is located, then determine the first distance between the static obstacle and the end position; determine whether the first distance meets the safety preset distance; if not, it indicates that parking at the end position shown on the first user interface before (such as Figure 3 the end position shown) will cause a collision with the static obstacle, and the navigation environment map displayed on the first user interface needs to be updated (such as Figure 4 shown), if so, it indicates that parking at the end position shown on the first user interface before (such as Figure 3 the end position shown) will not collide with the static obstacle, and the vehicle can be controlled to complete parking according to the Figure 3 end position shown.

[0058] For example, assume that the position A of the static obstacle is (15, 20), and the first distance d between the stationary obstacle and the end position is calculated to be 30 cm according to this position A, while the set safety preset distance is s = 40 cm, d < s, then update the navigation environment map displayed on the first user interface, update the end position displayed in the navigation environment map to a position greater than or equal to the safety preset distance, and then control the vehicle to complete parking according to the updated end position, thereby avoiding a collision with the static obstacle.

[0059] Optionally, after controlling the vehicle to complete parking, a parking success message can also be output. The parking success message is used to indicate that the vehicle has successfully parked in the position, thus facilitating reminding the user to get off safely. The specific manifestation of outputting the parking success message may include a voice notification, and may also include popping up a notification window on the user interface. The embodiments of the present application do not limit the output method of the parking success message.

[0060] In this embodiment, when the vehicle is detected to have reached the starting position of the parking path, first obstacle information is acquired. If the parking conditions from the starting position to the target parking space are met based on the first obstacle information, a first user interface is generated. This first user interface displays a navigation environment map showing the endpoint from the starting position to the target parking space. Based on the navigation environment map, the vehicle is controlled to drive towards the target parking space, thus effectively avoiding obstacles and preventing collisions. Furthermore, when the vehicle reaches the surrounding environment of the target parking space, second obstacle information is acquired. Based on the second obstacle information, the navigation environment map displayed on the first user interface is updated, and the vehicle is controlled to complete parking according to the endpoint shown in the updated navigation environment map. Therefore, based on the acquired second obstacle information, obstacles can be extracted from the surrounding environment of the target parking space, allowing sufficient lateral safety distance to be reserved in advance for overhead objects, further improving the accuracy of obstacle avoidance, thereby improving the safety of automatic parking and satisfying the user experience.

[0061] Based on the above Figure 2 The flowchart shown is as follows. Figure 5 An exemplary schematic diagram of a parking maneuver that avoids obstacles is provided in an embodiment of this application.

[0062] like Figure 5 As shown, firstly, surround-view cameras and ultrasonic radar installed around the vehicle detect the environment around the parking lot. The first obstacle information detected by the surround-view cameras and ultrasonic radar is transmitted to the parking controller. When the parking controller determines that the parking conditions are met based on the first obstacle information, it directly or indirectly controls the vehicle's steering system, power system, braking system, and body control system to control the vehicle's steering wheel rotation, torque increase and start, deceleration and braking, and lights, guiding the vehicle to move towards the target parking space. Then, when it reaches the vicinity of the target parking space, the surround-view cameras, ultrasonic radar, millimeter-wave radar, and lidar installed around the vehicle detect the surrounding environment of the target parking space. After fusing and processing the information detected by the surround-view cameras, ultrasonic radar, millimeter-wave radar, and lidar, the second obstacle information is transmitted to the parking controller. When the parking controller determines that there is a static obstacle in the surrounding environment of the target parking space based on the second obstacle information, it can control the vehicle to stop at a position within a preset safe distance range. At the same time, the real-time parking status is fed back to the user through the human-machine interface.

[0063] Based on the same technical concept, this application embodiment also provides a parking device for avoiding obstacles, which can implement the process of the method described above in this application embodiment.

[0064] Figure 6This application provides a parking device for avoiding obstacles. The device includes a control module 601, an acquisition module 602, and a display module 603, and may further include a notification module 604.

[0065] The control module 601 is configured to: instruct the acquisition module 602 to acquire first obstacle information when the vehicle is detected to have traveled to the starting position of the parking path; instruct the display module 603 to generate a first user interface if the parking conditions from the starting position to the target parking space are met based on the first obstacle information; control the vehicle to drive towards the target parking space based on the navigation environment map; instruct the acquisition module 602 to acquire second obstacle information when the vehicle travels to the surrounding environment of the target parking space; and instruct the display module 603 to update the navigation environment map displayed on the first user interface based on the second obstacle information, and control the vehicle to complete parking according to the destination position displayed in the updated navigation environment map.

[0066] The acquisition module 602 is used to acquire the first obstacle information and the second obstacle information according to the instruction of the control module 601;

[0067] Display module 603 is configured to generate a first user interface according to the instruction of control module 601; wherein the first user interface is configured to display a navigation environment map from the starting position to the endpoint position of the target parking space; and to update the navigation environment map displayed by the first user interface according to the second obstacle information.

[0068] Optionally, the control module 601 is specifically used for:

[0069] If, based on the second obstacle information, it is determined that there are static obstacles in the surrounding environment of the target parking space, then a first distance between the static obstacle and the destination position is determined; it is determined whether the first distance meets the safety preset distance; if not, the display module 603 is instructed to update the navigation environment map displayed on the first user interface; if so, the vehicle is controlled to complete parking according to the destination position.

[0070] Optionally, the control module 601 is further configured to:

[0071] If, based on the first obstacle information, it is determined that the parking conditions from the starting position to the target parking space are not met, then the system detects whether there is a first vacant parking space in the surrounding environment of the vehicle. If so, the system instructs the display module 603 to generate a second user interface, and in response to a user operation that selects the first vacant parking space in the second user interface, controls the vehicle to drive towards the first vacant parking space. If not, the system controls the vehicle to stop parking for a set time period.

[0072] Optionally, the notification module 604 is used to output a parking success message, which indicates that the vehicle has been successfully parked.

[0073] It should be noted that the above-mentioned apparatus for the obstacle avoidance parking method provided in this application embodiment can implement all the method steps in the above-mentioned obstacle avoidance parking method embodiment and can achieve the same technical effect. Here, the parts that are the same as those in the method embodiment and the beneficial effects will not be described in detail.

[0074] Based on the same technical concept, this application also provides an electronic device that can realize the function of the aforementioned obstacle avoidance parking device.

[0075] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0076] At least one processor 701 and a memory 702 connected to at least one processor 701. In this embodiment, the specific connection medium between the processor 701 and the memory 702 is not limited. Figure 7 The example shown is the connection between processor 701 and memory 702 via bus 700. Bus 700 is... Figure 7 The connections between other components are indicated by thick lines and are for illustrative purposes only, not as limiting information. The 700 bus can be divided into address bus, data bus, control bus, etc., for ease of representation. Figure 7 The term is represented by a single thick line, but this does not imply that there is only one bus or one type of bus. Alternatively, the processor 701 can also be called a controller; there is no restriction on the name.

[0077] In this embodiment, memory 702 stores instructions executable by at least one processor 701. By executing the instructions stored in memory 702, at least one processor 701 can execute a parking method for avoiding obstacles as described above. Processor 701 can implement... Figure 6 The functions of each module in the device shown.

[0078] The processor 701 is the control center of the device. It can connect to various parts of the control device through various interfaces and lines. By running or executing instructions stored in memory 702 and calling data stored in memory 702, the processor can perform various functions and process data, thereby monitoring the device as a whole.

[0079] In one possible design, processor 701 may include one or more processing units. Processor 701 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, driver interface, and applications, and the modem processor mainly handles wireless communication. It is understood that the modem processor may also not be integrated into processor 701. In some embodiments, processor 701 and memory 702 may be implemented on the same chip; in some embodiments, they may also be implemented on separate chips.

[0080] The processor 701 can be a general-purpose processor, such as a central processing unit (CPU), digital signal processor, application-specific integrated circuit, field-programmable gate array or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the obstacle avoidance parking method disclosed in the embodiments of this application can be directly manifested as being executed by a hardware processor, or executed by a combination of hardware and software modules within the processor.

[0081] Memory 702, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. Memory 702 may include at least one type of storage medium, such as flash memory, hard disk, multimedia card, card-type memory, random access memory (RAM), static random access memory (SRAM), programmable read-only memory (PROM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), magnetic storage, magnetic disk, optical disk, etc. Memory 702 can be any other medium capable of carrying or storing desired program code in the form of instructions or data structures that can be accessed by a computer, but is not limited thereto. In the embodiments of this application, memory 702 can also be a circuit or any other device capable of implementing storage functions for storing program instructions and / or data.

[0082] By designing and programming the processor 701, the code corresponding to the obstacle avoidance parking method described in the foregoing embodiments can be embedded into the chip, thereby enabling the chip to execute the code during runtime. Figure 3The illustrated embodiment provides a parking method for avoiding obstacles. How to design and program the processor 701 is a technique well-known to those skilled in the art and will not be described further here.

[0083] It should be noted that the electronic device provided in this application embodiment can implement all the method steps implemented in the above method embodiment and can achieve the same technical effect. Here, the parts that are the same as those in the method embodiment and the beneficial effects will not be described in detail.

[0084] This application also provides a computer-readable storage medium storing computer-executable instructions for causing a computer to perform a parking method for avoiding obstacles as described in the above embodiments.

[0085] This application also provides a computer program product, which, when invoked by a computer, causes the computer to execute a parking method for avoiding obstacles as described in the above embodiments.

[0086] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied 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.

[0087] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0088] These computer program instructions may also be stored in a computer-readable storage medium that can guide a computer or other programmable obstacle avoidance parking equipment to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1The function specified in one or more boxes.

[0089] These computer program instructions can also be loaded onto a computer or other programmable obstacle avoidance parking equipment, causing a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0090] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A parking method for avoiding obstacles, characterized in that, include: When the vehicle is detected to have traveled to the starting position of the parking path, the first obstacle information is obtained; If, based on the first obstacle information, it is determined that the parking conditions are met from the starting position to the target parking space, a first user interface is generated; wherein, the first user interface is used to display a navigation environment map of the destination position from the starting position to the target parking space; Based on the navigation environment map, control the vehicle to drive towards the target parking space; When the vehicle drives to the surrounding environment of the target parking space, the second obstacle information is obtained; Based on the second obstacle information, update the navigation environment map displayed on the first user interface, and control the vehicle to complete parking according to the destination position shown in the updated navigation environment map; The first obstacle information is dynamic obstacle information detected on the parking path, and the second obstacle information is obstacle information corresponding to the suspended obstacle near the target parking space.

2. The method as described in claim 1, characterized in that, The first obstacle information is determined by a surround-view camera and / or ultrasonic radar on the vehicle; The second obstacle information is determined by information fusion from the vehicle's surround-view camera, ultrasonic radar, millimeter-wave radar, and lidar.

3. The method as described in claim 1, characterized in that, The step of updating the navigation environment map displayed on the first user interface based on the second obstacle information includes: If, based on the second obstacle information, it is determined that there is a static obstacle in the surrounding environment of the target parking space, then the first distance between the static obstacle and the endpoint is determined. Determine whether the first distance meets the preset safety distance; If not, update the navigation environment map displayed on the first user interface; If so, then control the vehicle to complete parking according to the stated destination position.

4. The method as described in claim 1, characterized in that, The method further includes: If, based on the first obstacle information, it is determined that the parking conditions are not met from the starting position to the target parking space, then it is detected whether there is a first vacant parking space in the surrounding environment of the vehicle. If so, a second user interface is generated, and in response to a user operation that selects the first available parking space on the second user interface, the vehicle is controlled to drive toward the first available parking space; If not, then control the vehicle to stop parking according to the set time period.

5. The method according to any one of claims 1-4, characterized in that, After controlling the vehicle to complete parking, the method further includes: Output a parking success message, which indicates that the vehicle has been successfully parked.

6. A parking device for avoiding obstacles, characterized in that, include: Control module, acquisition module, display module; The control module is used to instruct the acquisition module to acquire first obstacle information when it detects that the vehicle has traveled to the starting position of the parking path; If, based on the first obstacle information, it is determined that the distance from the starting position to the target parking space meets the parking conditions, the display module is instructed to generate a first user interface; the vehicle is controlled to drive towards the target parking space based on the navigation environment map; and the acquisition module is instructed to acquire second obstacle information when the vehicle drives to the surrounding environment of the target parking space. Based on the second obstacle information, the system instructs the display module to update the navigation environment map displayed on the first user interface, and controls the vehicle to complete parking according to the destination location shown in the updated navigation environment map. The acquisition module is used to acquire the first obstacle information and the second obstacle information according to the instructions of the control module; The display module is configured to generate a first user interface according to the instructions of the control module; wherein the first user interface is configured to display a navigation environment map from the starting position to the endpoint position of the target parking space; and to update the navigation environment map displayed by the first user interface according to the second obstacle information. The first obstacle information is dynamic obstacle information detected on the parking path, and the second obstacle information is obstacle information corresponding to the suspended obstacle near the target parking space.

7. The apparatus as claimed in claim 6, characterized in that, The first obstacle information is determined by a surround-view camera and / or ultrasonic radar on the vehicle; The second obstacle information is determined by information fusion from the vehicle's surround-view camera, ultrasonic radar, millimeter-wave radar, and lidar.

8. The apparatus as claimed in claim 6, characterized in that, The control module is specifically used for: If, based on the second obstacle information, it is determined that there is a static obstacle in the surrounding environment of the target parking space, then the first distance between the static obstacle and the endpoint is determined. Determine whether the first distance meets the preset safety distance; If not, the display module is instructed to update the navigation environment map displayed on the first user interface; If so, then control the vehicle to complete parking according to the stated destination position.

9. The apparatus as claimed in claim 6, characterized in that, The control module is also used for: If, based on the first obstacle information, it is determined that the parking conditions are not met from the starting position to the target parking space, then it is detected whether there is a first vacant parking space in the surrounding environment of the vehicle. If so, the display module is instructed to generate a second user interface, and in response to a user operation that selects the first vacant parking space in the second user interface, the vehicle is controlled to drive toward the first vacant parking space; If not, then control the vehicle to stop parking according to the set time period.

10. The apparatus according to any one of claims 6-9, characterized in that, The device also includes a notification module; The notification module is used to output a parking success message, which indicates that the vehicle has been successfully parked.

11. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor, when executing a computer program stored in the memory, implements the method steps of any one of claims 1-5.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the method described in any one of claims 1-5.

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