An automatic parking method and system

Abstract

The application provides an automatic parking method and system, wherein the method comprises: generating a parking instruction when distance data obtained by calculation according to destination position data and positioning data is less than an automatic parking starting distance; a domain controller obtaining 4D point cloud data, image data and positioning data according to the parking instruction; the domain controller performing fusion processing on the 4D point cloud data, the image data and the positioning data to obtain environment data around an automatic driving vehicle; determining target parking space data according to the environment data and a preset determination condition when the domain controller determines that the environment data meets the preset determination condition; performing processing on the 4D point cloud data, the image data, the positioning data and the target parking space data by using a preset SLAM algorithm to obtain parking route planning data; and the domain controller controlling the vehicle to enter a parking space corresponding to the target parking space data according to the parking route planning data.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobile driving control, and in particular to an automatic parking method and system. BACKGROUND

[0002] In recent years, with the process of automobile industrialization, the number of automobiles continues to rise, and the development of automatic driving vehicles also advances. At present, most of the automatic driving vehicles are planned according to the specified destination and travel to the specified destination.

[0003] But as people's requirements for automatic driving vehicles continue to rise, and the only parking space at present, often due to the poor driving skills of the driver, bad parking habits and other human factors, leading to the vehicle deviating from the parking space or occupying multiple parking spaces, which often increases the difficulty of other cars to stop, thus causing the vehicle to collide, rub and other accidents. In view of the above situation, various intelligent parking auxiliary systems have emerged. Parking is more of a torture for people with poor driving skills. In order to solve the above parking problem, and to improve the function of automatic driving vehicles more intelligently, it is also necessary to develop an automatic parking method from the starting point to the destination parking lot and complete the automatic parking. SUMMARY

[0004] The present application aims to at least solve one of the technical problems in the related art.

[0005] To this end, the purpose of the present application is to propose an automatic parking method and system to solve the technical problem of the prior art from the starting point to the destination and complete the automatic parking.

[0006] To achieve the above purpose, the first aspect of the present application proposes an automatic parking method applied to an automatic driving vehicle, characterized in that the method comprises:

[0007] According to the destination position data and the positioning data of the automatic driving vehicle, the distance data is obtained by calculation;

[0008] When the distance data is less than the automatic parking starting distance, a parking instruction is generated;

[0009] The domain controller obtains 4D point cloud data, image data and the positioning data according to the parking instruction;

[0010] The domain controller performs fusion processing according to the 4D point cloud data, the image data and the positioning data to obtain the environmental data around the automatic driving vehicle;

[0011] The domain controller determines target parking space data according to the environment data and a preset determination condition when the domain controller determines that the environment data meets the preset determination condition;

[0012] The domain controller processes the 4D point cloud data, the image data, the positioning data and the target parking space data by using a preset SLAM algorithm to obtain parking route planning data;

[0013] The domain controller controls the autonomous vehicle to drive into a parking space corresponding to the target parking space data according to the parking route planning data.

[0014] Optionally, after the domain controller determines according to the environment data and a preset determination condition, the method further comprises:

[0015] When the domain controller determines that the environment data does not meet the preset determination condition, a parking space search route is planned according to the environment data to obtain parking space search route data;

[0016] The domain controller drives according to the parking space search route and acquires the 4D point cloud data, the image data and the positioning data;

[0017] The domain controller determines target parking space data according to the environment data and a preset determination condition when the domain controller determines that the environment data meets the preset determination condition;

[0018] The domain controller processes the 4D point cloud data, the image data, the positioning data and the target parking space data by using a preset SLAM algorithm to obtain parking route planning data;

[0019] The domain controller controls the autonomous vehicle to drive into a parking space corresponding to the target parking space data according to the parking route planning data.

[0020] Further optionally, the domain controller acquires 4D point cloud data, image data and positioning data according to the parking instruction specifically comprises:

[0021] The domain controller acquires the 4D point cloud data generated according to a plurality of first 4D point cloud data fed back by a radar sensor according to the parking instruction;

[0022] The domain controller acquires the image data generated according to a plurality of first image data collected by an image collection device according to the parking instruction;

[0023] The domain controller acquires the positioning data of a positioning sensor according to the parking instruction.

[0024] Further optionally, the number of radar sensors is 4, and the 4D point cloud data generated according to the first 4D point cloud data fed back by the radar sensors according to the parking instruction specifically includes:

[0025] The radar sensor perceives the surrounding environment of the autonomous vehicle according to a first preset frequency, and generates first 4D point cloud data.

[0026] The radar data processing module of the domain controller fuses the four first 4D point cloud data to obtain the 4D point cloud data.

[0027] Further optionally, the image acquisition device is a camera sensor, and the image data generated according to the first image data collected by the image acquisition device according to the parking instruction specifically includes:

[0028] The camera sensor collects the surrounding environment image of the autonomous vehicle according to a second preset frequency, and generates first image data; wherein the number of camera sensors is N.

[0029] The image processing module of the domain controller fuses the N first image data to generate the image data.

[0030] Further optionally, the image processing module of the domain controller fuses the N first image data to generate the image data specifically includes:

[0031] The image processing module respectively performs distortion restoration processing on the N first image data to obtain N first distortion restoration image data.

[0032] The image processing module performs perspective conversion processing on the N first distortion restoration image data to obtain N first perspective conversion image data.

[0033] The image processing module performs image stitching processing on the N first perspective conversion image data to generate the image data.

[0034] Further optionally, the positioning data of the positioning sensor obtained by the domain controller according to the parking instruction specifically includes: the positioning sensor collects the position information of the autonomous vehicle according to a third preset frequency to generate the positioning data; wherein the positioning data includes the longitude and latitude of the autonomous vehicle.

[0035] Optionally, the domain controller controls the autonomous vehicle to drive into the parking space corresponding to the target parking space data according to the parking route planning data specifically includes:

[0036] The brake actuator controls a braking system of the autonomous vehicle according to the parking route planning data.

[0037] The acceleration actuator controls an acceleration system of the autonomous vehicle according to the parking route planning data.

[0038] The steering actuator controls a steering system of the autonomous vehicle according to the parking route planning data.

[0039] To achieve the above object, the first aspect of the present application provides an automatic parking system, which comprises a domain controller, a radar sensor, an image acquisition device, a positioning sensor, a brake actuator, an acceleration actuator and a steering actuator, wherein

[0040] The domain controller is in communication connection with the radar sensor, the image acquisition device, the positioning sensor, the brake actuator, the acceleration actuator, the steering actuator and a parking actuator.

[0041] The domain controller is configured to calculate distance data according to destination position data and positioning data of the autonomous vehicle.

[0042] The domain controller is further configured to generate a parking instruction when the distance data is less than an automatic parking starting distance.

[0043] The domain controller is further configured to obtain 4D point cloud data, image data and the positioning data according to the parking instruction.

[0044] The domain controller is further configured to obtain environmental data of a surrounding of the autonomous vehicle by fusion processing of the 4D point cloud data, the image data and the positioning data.

[0045] The domain controller is further configured to determine target parking space data according to the environmental data when the domain controller determines that the environmental data meets a preset determination condition.

[0046] The domain controller is further configured to obtain parking route planning data by processing the 4D point cloud data, the image data, the positioning data and the target parking space data using a preset SLAM algorithm.

[0047] The domain controller is further configured to control the vehicle to enter a parking space corresponding to the target parking space data according to the parking route planning data.

[0048] Optionally, the radar sensor is configured to perceive a surrounding environment of the autonomous vehicle according to a first preset frequency to generate first 4D point cloud data.

[0049] The camera sensor is used to collect the surrounding environment image of the automatic driving vehicle according to a second preset frequency, and generate first image data;

[0050] The positioning sensor is used to collect the position information of the automatic driving vehicle according to a third preset frequency, and generate the positioning data;

[0051] The brake actuator is used to control the brake system of the automatic driving vehicle according to the parking route planning data;

[0052] The acceleration actuator is used to control the acceleration system of the automatic driving vehicle according to the parking route planning data;

[0053] The steering actuator is used to control the steering system of the automatic driving vehicle according to the parking route planning data.

[0054] The automatic parking method and system provided by the embodiment of the application, the automatic method based on the automatic driving system is that after receiving the automatic driving instruction of the user, the automatic driving vehicle automatically judges the distance from the destination according to the destination position data and the positioning data of the automatic driving vehicle during the driving process, and automatically searches for the vacant parking space near the destination according to the judgment result, finally reaches the automatic driving from the starting point to the parking space near the destination and completes the automatic parking, the whole process is completed without the user's operation, and the automatic driving and parking integrated automatic driving and parking function is achieved.

[0055] Additional aspects and advantages of the application will be described in the following description, will become apparent from the following description, or will be learned by practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0056] The above and / or additional aspects and advantages of the application will become apparent and be readily understood from the following description, taken in conjunction with the accompanying drawings, in which:

[0057] Figure 1 A system block diagram of an automatic parking system provided by the embodiment of the application is shown in the figure;

[0058] Figure 2 A flowchart of an automatic parking method provided by the embodiment of the application is shown in the figure;

[0059] Figure 3 A flowchart of another automatic parking method provided by the embodiment of the application is shown in the figure. DETAILED DESCRIPTION

[0060] Embodiments of the present application are described below in detail with reference to the accompanying drawings, wherein the same or similar components are denoted by the same or similar reference numerals throughout the drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present application, and should not be understood as limiting the present application.

[0061] An automatic parking method and system of an embodiment of the present application are described below with reference to the accompanying drawings. The automatic parking method and system are implemented to enable an autonomous vehicle to complete a full-automatic parking automatic driving function.

[0062] To more clearly introduce the automatic parking method provided by the embodiment of the present application, an automatic driving system provided by the embodiment of the present application is introduced first, and then the automatic driving method is introduced in detail based on the automatic driving system of the embodiment of the present application.

[0063] Figure 1 A system block diagram of an automatic parking system provided by the embodiment of the present application is shown in FIG. 1, which includes a domain controller 1, a radar sensor 2, an image acquisition device 3, a positioning sensor 4, a brake actuator 5, an acceleration actuator 6, and a steering actuator 7. Figure 1

[0064] Specifically, in the embodiment of the present application, the domain controller 1 is communicatively connected with the radar sensor 2, the image acquisition device 3, the positioning sensor 4, the brake actuator 5, the acceleration actuator 6, the steering actuator 7, and a parking actuator (not shown in the figure). The domain controller and the radar sensor 2, the image acquisition device 3, the positioning sensor 4, the brake actuator 5, the acceleration actuator 6, the steering actuator 7, and the parking actuator (not shown in the figure) perform mutual data transmission.

[0065] ​The domain controller 1 is the core of each functional domain of the autonomous vehicle, which mainly consists of a domain master processor, an operating system, and application software and algorithms. Relying on the high-performance domain master processor, rich hardware interface resources, and powerful software function characteristics, the domain controller can integrate the core functions that need to be realized by many ECUs together to control the vehicle system modules and the autonomous vehicle. In the embodiment of the application, the domain controller 1 is used to calculate the distance data according to the destination position data and the positioning data of the autonomous vehicle; the domain controller 1 is also used to generate a parking instruction when the distance data is less than the automatic parking starting distance; the domain controller 1 is also used to obtain 4D point cloud data, image data, and positioning data according to the parking instruction; the domain controller 1 is also used to fuse the 4D point cloud data, the image data, and the positioning data to obtain the environmental data of the surrounding environment of the autonomous vehicle; the domain controller 1 is also used to determine the target parking space data according to the environmental data and the preset determination condition when the domain controller 1 determines that the environmental data meets the preset determination condition; the domain controller 1 is also used to process the 4D point cloud data, the image data, the positioning data, and the target parking space data by using a preset SLAM algorithm to obtain parking route planning data; and the domain controller 1 is also used to control the vehicle to enter the parking space corresponding to the target parking space data according to the parking route planning data.

[0066] In the embodiment of the application, the radar sensor 2 is used to perceive the surrounding environment of the autonomous vehicle according to a first preset frequency to generate first 4D point cloud data. In one specific example of the embodiment of the application, the radar sensor 2 is a device installed on the vehicle for perceiving the surrounding environment obstacles and the like of the vehicle. In the preferred scheme of the embodiment of the application, four radar sensors are installed on the autonomous vehicle, that is, the number of radar sensors is four.

[0067] In the embodiment of the application, the camera sensor is used to collect the image of the surrounding environment of the autonomous vehicle according to a second preset frequency to generate first image data. In one specific example of the embodiment of the application, the camera sensor is a camera for photographing the surrounding environment of the vehicle. In the preferred scheme of the embodiment of the application, the camera is a high-definition camera, and four cameras are installed on the autonomous vehicle, that is, the number of cameras is four.

[0068] In the embodiment of the application, the positioning sensor 4 is used to collect the position information of the autonomous vehicle according to a third preset frequency to generate positioning data. In the embodiment of the application, the positioning data includes the longitude and latitude of the autonomous vehicle.

[0069] In the embodiment of the present application, the brake actuator 5 is used to control the braking system of the automatic driving vehicle according to the parking route planning data. Specifically, when the domain controller 1 controls the brake actuator 5 to brake according to the braking data in the route planning data, the brake actuator 5 controls the braking system of the automatic driving vehicle according to the execution instruction of the domain controller 1, so that the automatic driving vehicle brakes according to the braking data.

[0070] In the embodiment of the present application, the acceleration actuator 6 is used to control the acceleration system of the automatic driving vehicle according to the parking route planning data. Specifically, when the domain controller 1 controls the acceleration actuator 6 to brake according to the acceleration data in the route planning data, the acceleration actuator 6 controls the acceleration system of the automatic driving vehicle according to the execution instruction of the domain controller 1, so that the automatic driving vehicle accelerates according to the acceleration data.

[0071] In the embodiment of the present application, the steering actuator 7 is used to control the steering system of the automatic driving vehicle according to the parking route planning data. Specifically, when the domain controller 1 controls the steering actuator 7 to steer according to the steering data in the route planning data, the steering actuator 7 controls the steering system of the automatic driving vehicle according to the execution instruction of the domain controller 1, so that the automatic driving vehicle steers according to the steering data.

[0072] The above introduces an automatic parking system provided by the embodiment of the present application. Based on the automatic parking system provided by the present application, an automatic parking method provided by the embodiment of the present application is introduced in combination with the drawings.

[0073] Figure 2 An automatic parking method provided by the embodiment of the present application is shown in a flowchart. The automatic parking method provided by the embodiment of the present application includes the following steps:

[0074] Step 101: Calculate the distance data according to the destination position data and the positioning data of the automatic driving vehicle.

[0075] Specifically, during the driving of the automatic driving vehicle to the destination according to the destination position data, the domain controller calculates the distance between the automatic driving vehicle and the destination, i.e. the distance data, according to the acquired positioning data and the destination position data. The positioning data is obtained from the positioning sensor of the vehicle. During the driving of the vehicle, the positioning sensor collects the position information of the automatic driving vehicle according to a third preset frequency to generate the positioning data. The positioning data includes the longitude and latitude of the automatic driving vehicle.

[0076] In the embodiment of the present application, the positioning sensor collects the position information of the autonomous vehicle according to the third preset frequency to generate positioning data. The positioning data includes the longitude and latitude of the autonomous vehicle. The destination position data also includes longitude and latitude. The domain controller calculates the distance data according to the positioning data and the destination position data.

[0077] Step 102, when the distance data is less than the automatic parking start distance, a parking instruction is generated.

[0078] Specifically, the domain controller compares the preset automatic parking start distance with the calculated distance data. When the distance data is less than the preset automatic parking start distance, it means that the distance between the autonomous vehicle and the destination is relatively close, and the automatic parking operation can be performed. At this time, a parking instruction is generated to perform automatic parking.

[0079] Step 103, the domain controller acquires 4D point cloud data, image data and positioning data according to the parking instruction.

[0080] Specifically, when the domain controller determines to generate a parking instruction, 4D point cloud data, image data and positioning data are acquired according to the parking instruction.

[0081] In the embodiment of the present application, acquiring 4D point cloud data according to the parking instruction specifically means that the domain controller acquires 4D point cloud data fed back by the radar sensor according to the parking instruction. The radar sensor is a device installed on the vehicle for sensing the surrounding environment obstacles and other conditions of the vehicle. In the preferred embodiment of the present application, the autonomous vehicle is equipped with four radar sensors, i.e. the number of radar sensors is four.

[0082] In the preferred embodiment of the present application, the domain controller acquires 4D point cloud data fed back by the radar sensor according to the parking instruction specifically includes the following steps:

[0083] Firstly, the radar sensor senses the surrounding environment of the autonomous vehicle according to the first preset frequency to generate first 4D point cloud data. The first preset frequency is the frequency at which the radar sensor senses the surrounding environment of the autonomous vehicle. It is a reliable frequency value obtained through multiple tests before the vehicle is put into operation. For example, in the preferred embodiment of the present application, the radar sensor is a millimeter wave angle radar, and the frequency range of the millimeter wave angle radar is 76-79GHZ.

[0084] Secondly, the radar data processing module of the domain controller fuses and processes the four first 4D point cloud data to obtain 4D point cloud data. That is, the domain controller fuses and processes the four first 4D point cloud data by a preset point cloud data processing algorithm to obtain 4D point cloud data.

[0085] In the embodiment of the present application, the image data obtained according to the parking instruction is specifically obtained by the domain controller according to the parking instruction. The image acquisition device is a camera, which is used to capture the surrounding environment of the vehicle. In the preferred embodiment of the present application, the camera is a high-definition camera, and the autonomous vehicle is equipped with N cameras, that is, the number of cameras is N.

[0086] In the preferred embodiment of the present application, the domain controller obtains the image data collected by the image acquisition device according to the parking instruction, which specifically includes the following steps:

[0087] Firstly, the camera collects the surrounding environment image of the autonomous vehicle according to the second preset frequency to generate the first image data. The second frequency is the frequency of the camera capturing the surrounding environment of the autonomous vehicle, which is obtained through multiple tests before the vehicle is offline. In the preferred embodiment of the present application, the sampling frequency of the camera is 2.5MHz.

[0088] Secondly, the image processing module of the domain controller fuses the N first image data to generate image data. That is, the domain controller fuses the N first image data by using an image processing algorithm to generate image data. In the preferred embodiment of the present application, the image processing module of the domain controller fuses the N first image data to generate image data, which specifically includes: first, the image processing module respectively processes the N first image data to obtain N first distortion restoration image data. Then, the image processing module processes the N first distortion restoration image data to obtain N first perspective conversion image data. Finally, the image processing module processes the N first perspective conversion image data to generate image data.

[0089] In the embodiment of the present application, the domain controller obtains the positioning data according to the parking instruction in the same way as in step 101, that is, the positioning sensor collects the position information of the autonomous vehicle according to the third preset frequency to generate the positioning data. The positioning data includes the longitude and latitude of the autonomous vehicle.

[0090] Step 104, the domain controller fuses the 4D point cloud data, the image data and the positioning data to obtain the environmental data of the surrounding environment of the autonomous vehicle.

[0091] Specifically, the domain controller in the autonomous vehicle fuses the 4D point cloud data, the image data and the positioning data by calling the predetermined fusion processing algorithm, and finally obtains the processing data of the surrounding environment of the autonomous vehicle, which is recorded as the environmental data. The environmental data includes obstacle data, parking space data, distance data between obstacles and the like of the surrounding environment of the vehicle.

[0092] Step 105, the domain controller determines according to the environmental data and the preset determination condition, and when the domain controller determines that the environmental data meets the preset determination condition, target parking space data is determined according to the environmental data.

[0093] Specifically, the preset determination data includes the size of the vehicle, the parking space size threshold and the like. The domain controller determines according to the environmental data and the preset determination condition. When it is determined that the environmental data meets the preset determination condition, it means that there is parking space data in the environmental data that meets the parking requirement. That is, an empty parking space suitable for parking the autonomous vehicle is found. At this time, the domain controller determines the target parking space data according to the environmental data.

[0094] Step 106, the domain controller processes the 4D point cloud data, the image data, the positioning data and the target parking space data by using a preset SLAM algorithm to obtain parking route planning data.

[0095] Specifically, the autonomous vehicle is preset with a SLAM algorithm, which is used for route planning of the vehicle. At this time, the domain controller processes the 4D point cloud data, the image data, the positioning data and the target parking space data by using the preset SLAM algorithm to obtain parking route planning data. That is, the route of the autonomous vehicle parking into the target parking space is calculated, and the parking route planning data is generated.

[0096] Step 107, the domain controller controls the vehicle to enter the parking space corresponding to the target parking space data according to the parking route planning data.

[0097] Specifically, in the embodiment of the application, the domain controller controls the autonomous vehicle to enter the parking space corresponding to the target parking space data according to the parking route planning data, which specifically includes: the brake actuator controls the braking system of the autonomous vehicle according to the parking route planning data; the accelerator actuator controls the acceleration system of the autonomous vehicle according to the parking route planning data; and the steering actuator controls the steering system of the autonomous vehicle according to the parking route planning data.

[0098] The above is an automatic parking method provided by the embodiment of the application. In the process of the autonomous vehicle entering, when the autonomous vehicle reaches the vicinity of the destination, the autonomous vehicle judges the position relative to the destination. When the autonomous vehicle reaches the vicinity of the destination, the parking space is searched, and when it is confirmed that there is an empty parking space near the autonomous vehicle, the autonomous vehicle can be automatically parked in the corresponding empty parking space. The embodiment of the application also provides an automatic parking method for the case that the autonomous vehicle reaches the vicinity of the destination but has not yet entered the vicinity of the empty parking space. At this time, the vehicle needs to search for an empty parking space, Figure 3 The flowchart of another automatic parking method provided by the embodiment of the application is combined with Figure 3As shown in the figure, the implementation steps of the method further include, after step 104, and before step 105, the following steps:

[0099] Step 1041, the domain controller determines according to the environment data and the preset determination condition, when the domain controller determines that the environment data does not meet the preset determination condition, the parking space search route is planned according to the environment data, and the parking space search route data is obtained.

[0100] Specifically, the preset judgment data includes the size of the vehicle, the parking space size threshold required for parking, and the like. The domain controller determines according to the environment data and the preset determination condition. When it is determined that the environment data does not meet the preset determination condition, it means that there is no parking space data in the environment data that meets the parking requirement. That is, no vacant parking space suitable for parking the automatic driving vehicle has been found. At this time, the domain controller determines the driving route according to the environment data, and the domain controller determines the driving route according to the preset SLAM algorithm for 4D point cloud data, image data, and positioning data, so as to continue to search for a vacant parking space suitable for parking the automatic driving vehicle. The driving route is referred to as parking space search route data.

[0101] Step 1042, the domain controller drives according to the parking space search route data, and real-time acquires 4D point cloud data, image data, and positioning data.

[0102] Specifically, the domain controller drives according to the parking space search data, and real-time acquires new 4D point cloud data, image data, and positioning data.

[0103] In the embodiment of the application, the domain controller continuously executes steps 1041 and 1032 until step 105 and the subsequent steps can be executed after 1042. That is, the automatic driving vehicle drives while determining according to the environment data and the preset determination condition, that is, it determines whether there is a vacant parking space that meets the condition in the surrounding environment while driving, that is, the target parking space. After it is determined that there is a vacant parking space that meets the condition in the surrounding environment data, step 105 and the subsequent steps of parking the automatic driving vehicle in the target parking space searched are executed.

[0104] The automatic parking method and system of the embodiment of the application, based on the automatic method of the automatic driving system, is that after receiving the automatic driving instruction of the user, the automatic driving vehicle automatically determines the distance from the destination according to the destination position data and the positioning data of the automatic driving vehicle during the driving process, and automatically searches for a vacant parking space near the destination according to the determination result, and finally completes the automatic driving from the starting point to the parking space near the destination and completes the automatic parking, which is completed without the user's operation, and achieves the automatic driving and parking function of the automatic driving vehicle.

[0105] In the description of the application, reference to "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" means that a particular feature, structure, material, or characteristic being described is included in at least one embodiment or example of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment or example. Furthermore, the described specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples. Moreover, the usage of the terms "first", "second" or "third" does not limit the quantity or order of the specific features, structures, materials or characteristics, but merely distinguishes one from another. Thus, features, structures, materials or characteristics referred to by the same or different terms in different places of the specification have no significance in terms of hierarchy or importance.

[0106] Furthermore, the terms "first", "second", or the like, merely denote different instances of a similar feature, structure, material or characteristic, and do not imply or suggest any relative importance of the so denoted features, structures, materials or characteristics. Thus, features, structures, materials or characteristics defined with "first", "second" can implicitly or explicitly include at least one of the features. In the description of the application, the meaning of "plurality" is at least two, e.g. two, three, etc., unless explicitly specified otherwise.

[0107] Any process or method descriptions or blocks in flow charts or otherwise described herein represent embodiments which can be managed as one or more modules, segments, or portions of code which include one or more steps for implementing the processes described, and the various embodiments of the application can include additional or fewer processes or methods, and the order of the processes or methods can be changed from those described. Any of the described processes or methods can be embodied in a machine-executable code, which can be written to one or more machine-readable media, and the various embodiments of the application include additional or fewer processes or methods, and the order of the processes or methods can be changed from those described.

[0108] The logic and / or steps represented in flow diagrams or otherwise described herein, for example, can be considered as a sequence of instructions to implement logic functions, and can be embodied in any computer-readable medium for use by an instruction execution system, apparatus, or device, such as a computer-based system, processor- containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. In the context of this specification, a "computer-readable medium" can be any means that can contain, store, communicate, propagate or transport the program for use by or in connection with the instruction execution system, apparatus, or device. The computer-readable medium can be a machine-readable storage device (e.g., magnetic, optical or other) a machine-readable storage diskette (e.g., floppy, flexible or other), a machine-readable storage card (e.g., ROM, EEPROM, flash memory or other), a machine- readable storage tape (e.g., magnetic, optical or other), a machine-readable storage medium (e.g., a portable electronic device, a computer diskette, a computer memory, a broadcast transmission, or the like), or a machine-readable interface device (e.g., a wireless link, optical link or other). The computer-readable medium can also be, or be included in, a computer program product apparatus that tangibly embodies the program. The computer-readable medium can also be, or be included in, an article of manufacture that comprises a computer program product. Additionally, the computer-readable medium can be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted, or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.

[0109] It should be understood that aspects of the application can be implemented in hardware, software, firmware or combinations thereof. In the above embodiments, various steps or methods can be implemented in software or firmware that is stored in memory and executed by a suitable instruction execution system. As such, in some embodiments, the steps or methods can be implemented in a combination of hardware and software. If implemented in hardware, as in another embodiment, any of the above techniques can be implemented with or without the use of a programmable digital signal processor (DSP) or other programmable device. In some embodiments, the steps or methods can be implemented in a combination of hardware and software.

[0110] Those of skill in the art will understand that the steps or methods carried out in the above-described embodiments can be carried out by program instructions stored in a computer-readable memory and executed by a data processor, or in the alternative, by hardwired circuitry, for example, and / or combinations of hardware and software. In some embodiments, the steps or methods can be carried out in, along with, or as a part of the method steps of the above-described embodiments.

[0111] In addition, each function unit in each embodiment of the present application can be integrated in one processing module, or each unit can be physically present separately, or two or more units can be integrated in one module. The integrated module can be realized in the form of hardware or in the form of a software function module. When the integrated module is realized in the form of a software function module and sold or used as an independent product, it can also be stored in a computer readable storage medium.

[0112] The storage medium mentioned above can 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 should be understood that the above embodiments are exemplary and should not be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

[0113] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by a computer program instructing relevant hardware, and the program can be stored in a computer readable storage medium. When the program is executed, it can include the processes of the above-mentioned embodiments. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0114] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any changes or replacements within the technical scope disclosed by the present application can be easily thought of by those skilled in the art, and should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. An automatic parking method applied to an autonomous vehicle, characterized in that, The method comprises: According to the destination location data and the positioning data of the autonomous vehicle, distance data is calculated; When the distance data is less than the automatic parking starting distance, a parking instruction is generated; The domain controller obtains 4D point cloud data, image data and positioning data according to the parking instruction; The domain controller fuses the 4D point cloud data, the image data and the positioning data to obtain environmental data around the autonomous vehicle; The domain controller determines whether the environmental data meets a preset determination condition, and determines target parking space data according to the environmental data when the domain controller determines that the environmental data meets the preset determination condition; The domain controller processes the 4D point cloud data, the image data, the positioning data and the target parking space data using a preset SLAM algorithm to obtain parking route planning data; The domain controller controls the vehicle to enter the parking space corresponding to the target parking space data according to the parking route planning data. After the domain controller determines whether the environmental data meets a preset determination condition, the method further comprises: When the domain controller determines that the environmental data does not meet the preset determination condition, a parking space search route is planned according to the environmental data to obtain parking space search route data; The domain controller drives according to the parking space search route and acquires the 4D point cloud data, the image data and the positioning data; The domain controller determines whether the environmental data meets a preset determination condition, and determines target parking space data according to the environmental data when the domain controller determines that the environmental data meets the preset determination condition; The domain controller processes the 4D point cloud data, the image data, the positioning data and the target parking space data using a preset SLAM algorithm to obtain parking route planning data; The domain controller controls the autonomous vehicle to enter the parking space corresponding to the target parking space data according to the parking route planning data.

2. The automatic parking method according to claim 1, characterized in that, The domain controller acquires 4D point cloud data, image data and positioning data according to the parking instruction specifically comprises: The domain controller acquires the 4D point cloud data generated according to a plurality of first 4D point cloud data fed back by a radar sensor according to the parking instruction; The domain controller acquires the image data generated according to a plurality of first image data collected by an image collection device according to the parking instruction; The domain controller acquires the positioning data of a positioning sensor according to the parking instruction.

3. The automatic parking method according to claim 2, wherein The number of radar sensors is 4, and the domain controller acquires the 4D point cloud data generated according to a plurality of first 4D point cloud data fed back by a radar sensor according to the parking instruction specifically comprises: The radar sensor perceives the surrounding environment of the autonomous vehicle according to a first preset frequency to generate first 4D point cloud data; The radar data processing module of the domain controller fuses the four first 4D point cloud data to obtain the 4D point cloud data.

4. The automatic parking method according to claim 2, wherein The image acquisition device is a camera sensor, and the domain controller acquires the image data generated according to a plurality of first image data collected by the image acquisition device according to the parking instruction, specifically comprising: The camera sensor collects the surrounding environment images of the autonomous vehicle according to a second preset frequency to generate first image data; wherein the number of camera sensors is N; The image processing module of the domain controller fuses and processes the N first image data to generate the image data.

5. The automatic parking method according to claim 4, wherein The image processing module of the domain controller fuses and processes the N first image data to generate the image data specifically comprises: The image processing module respectively performs distortion restoration processing on the N first image data to obtain N first distortion restoration image data; The image processing module performs perspective conversion processing on the N first distortion restoration image data to obtain N first perspective conversion image data; The image processing module performs image stitching processing on the N first perspective conversion image data to generate the image data.

6. The automatic parking method according to claim 2, wherein The domain controller acquires the positioning data of the positioning sensor according to the parking instruction specifically comprises: the positioning sensor collects the position information of the autonomous vehicle according to a third preset frequency to generate the positioning data; wherein the positioning data includes the longitude and latitude of the autonomous vehicle.

7. The automatic parking method according to claim 1, wherein The domain controller controls the autonomous vehicle to enter the parking space corresponding to the target parking space data according to the parking route planning data specifically comprises: The brake actuator controls the braking system of the autonomous vehicle according to the parking route planning data; The acceleration actuator controls the acceleration system of the autonomous vehicle according to the parking route planning data; The steering actuator controls the steering system of the autonomous vehicle according to the parking route planning data.

8. An automatic parking system, the system comprising a domain controller, a radar sensor, an image acquisition device, a positioning sensor, a brake actuator, an acceleration actuator and a steering actuator; wherein, The domain controller is in communication connection with the radar sensor, the image acquisition device, the positioning sensor, the brake actuator, the acceleration actuator, the steering actuator and the parking actuator; The domain controller is used for calculating the distance data according to the destination position data and the positioning data of the autonomous vehicle; The domain controller is also used for generating a parking instruction when the distance data is less than an automatic parking starting distance; The domain controller is also used for acquiring 4D point cloud data, image data and the positioning data according to the parking instruction; The domain controller is also used for fusing and processing the 4D point cloud data, the image data and the positioning data to obtain the environmental data of the surrounding of the autonomous vehicle; The domain controller is also used for determining the target parking space data according to the environmental data when the domain controller determines that the environmental data meets the preset determination condition. The domain controller is further configured to obtain parking route planning data by processing the 4D point cloud data, the image data, the positioning data and the target parking space data according to a preset SLAM algorithm; The domain controller is further configured to control the vehicle to drive into a parking space corresponding to the target parking space data according to the parking route planning data; The domain controller is further configured to obtain parking space searching route data by performing parking space searching route planning according to the environment data when the domain controller determines that the environment data does not meet the preset determination condition after determining the environment data and the preset determination condition; The domain controller is further configured to obtain the 4D point cloud data, the image data and the positioning data by driving according to the parking space searching route; The domain controller is further configured to determine target parking space data according to the environment data when the domain controller determines that the environment data meets the preset determination condition after determining the environment data and the preset determination condition; The domain controller is further configured to obtain parking route planning data by processing the 4D point cloud data, the image data, the positioning data and the target parking space data according to a preset SLAM algorithm; The domain controller is further configured to control the autonomous vehicle to drive into a parking space corresponding to the target parking space data according to the parking route planning data.

9. The automatic parking system according to claim 8, characterized in that, The radar sensor is configured to perceive a surrounding environment of the autonomous vehicle according to a first preset frequency to generate first 4D point cloud data; The camera sensor is configured to collect an image of the surrounding environment of the autonomous vehicle according to a second preset frequency to generate first image data; The positioning sensor is configured to collect position information of the autonomous vehicle according to a third preset frequency to generate the positioning data; The brake actuator is configured to control a braking system of the autonomous vehicle according to the parking route planning data; The acceleration actuator is configured to control an acceleration system of the autonomous vehicle according to the parking route planning data; The steering actuator is configured to control a steering system of the autonomous vehicle according to the parking route planning data.

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