Automatic parking method, electronic device and storage medium for vertical parking spaces against a wall

Abstract

The present application provides a method, electronic device and storage medium for automatic parking in a vertical parking space against a wall. The method includes: when the target parking space where the vehicle is to be parked is a vertical parking space, and the side of the target parking space in the longitudinal direction is against the wall, and the target parking space is close to the first lane, based on the collected environmental data, determining whether there is an empty parking space within the preset range of the target parking space, wherein the first lane is a lane with a driving direction facing the wall; when there is at least one empty parking space within the preset range of the target parking space, selecting a parking space from the at least one empty parking space as a borrowed parking space; determining a parking path from the borrowed parking space to the target parking space according to the parking strategy corresponding to the borrowed parking space; and controlling the vehicle to park along the parking path so that the vehicle is parked at the target parking space. In this solution, the borrowed parking space is used to increase the parking space in the automatic parking process, which can improve the problem that the vehicle cannot be safely and automatically parked in a vertical parking space against a wall.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic parking, and in particular to an automatic parking method for a vertical parking space against a wall, an electronic device, and a storage medium. Background Art

[0002] With the continuous advancement of intelligent technology, more and more intelligent features are being applied to cars, such as the Auto Parking Assist (APA) function, which has become increasingly mature in recent years. Currently, many car companies have implemented and mass-produced intelligent parking functions. This practical feature has to some extent solved the problem of parking difficulties and significantly improved the user experience of intelligent vehicles.

[0003] Currently, most commercially available smart parking systems utilize a combination of ultrasonic radar sensors and fisheye cameras to scan and detect empty parking spaces. Ultrasonic radar sensors primarily detect obstacles during parking. When an obstacle enters the sensor's range, the vehicle triggers an alarm. Once it enters a safe distance, the parking system brakes, slows down, or even stops the vehicle. Cameras, on the other hand, primarily identify specific types of obstacles, such as vehicles, people, cones, and parking space markings. Currently, path planning methods used by various manufacturers for conventional vertical, parallel, and diagonal parking spaces are relatively mature and largely similar. Currently, automated parking in unconventional spaces is extremely challenging, and even difficult to achieve safely without collision. For example, "dead" parking spaces, such as vertical parking spaces against walls, are generally unsupported. Summary of the Invention

[0004] In view of this, an object of the embodiments of the present application is to provide a method, electronic device and storage medium for automatic parking in a perpendicular parking space against a wall, which can improve the problem that a vehicle cannot be safely and automatically parked in a perpendicular parking space against a wall.

[0005] To achieve the above technical objectives, the technical solutions adopted in this application are as follows:

[0006] In a first aspect, an embodiment of the present application provides a method for automatic parking in a vertical parking space against a wall, the method comprising:

[0007] When the target parking space for the vehicle is a vertical parking space, the longitudinal side of the target parking space is against a wall, and the target parking space is close to a first lane, based on the collected environmental data, it is determined whether there is a vacant parking space within a preset range of the target parking space, wherein the first lane is a lane with a driving direction toward the wall;

[0008] When there is at least one vacant parking space within a preset range of the target parking space, selecting a parking space from the at least one vacant parking space as a borrowed parking space;

[0009] determining a parking path from the borrowed parking space to the target parking space according to a parking strategy corresponding to the borrowed parking space;

[0010] The vehicle is controlled to park along the parking path so as to park at the target parking space.

[0011] In conjunction with the first aspect, in some optional implementations, selecting a parking space from the at least one vacant parking space as a borrowed parking space includes:

[0012] When there are multiple vacant parking spaces, based on preset priorities corresponding to parking difficulties of the parking spaces, a vacant parking space with the highest priority is selected from the multiple vacant parking spaces as the borrowed parking space.

[0013] In conjunction with the first aspect, in some optional implementations, determining a parking path from the borrowed parking space to the target parking space according to a parking strategy corresponding to the borrowed parking space includes:

[0014] When the borrowed parking space is a second parking space, a first parking path is determined to the target parking space via the second parking space according to a parking strategy corresponding to the second parking space, wherein the second parking space is a perpendicular parking space adjacent to the target parking space.

[0015] In conjunction with the first aspect, in some optional implementations, determining a parking path from the borrowed parking space to the target parking space according to a parking strategy corresponding to the borrowed parking space includes:

[0016] When the borrowed parking space is the third parking space, a second parking path is determined to the target parking space via the third parking space according to the parking strategy corresponding to the third parking space, wherein the third parking space is a perpendicular parking space spaced one parking space from the target parking space.

[0017] In conjunction with the first aspect, in some optional implementations, determining a parking path from the borrowed parking space to the target parking space according to a parking strategy corresponding to the borrowed parking space includes:

[0018] When the borrowed parking space is the fourth parking space, a third parking path is determined from the fourth parking space to the target parking space according to the parking strategy corresponding to the fourth parking space, wherein the fourth parking space is a perpendicular parking space opposite to the target parking space with respect to the first lane.

[0019] In conjunction with the first aspect, in some optional implementations, determining a parking path from the borrowed parking space to the target parking space according to a parking strategy corresponding to the borrowed parking space includes:

[0020] When the borrowed parking space is the fifth parking space, a fourth parking path is determined to the target parking space via the fifth parking space according to the parking strategy corresponding to the fifth parking space, wherein the fifth parking space is a perpendicular parking space adjacent to the fourth parking space, and the fourth parking space is a perpendicular parking space opposite to the target parking space with respect to the first lane.

[0021] In conjunction with the first aspect, in some optional implementations, determining a parking path from the borrowed parking space to the target parking space according to a parking strategy corresponding to the borrowed parking space includes:

[0022] When the borrowed parking space is the sixth parking space, a fifth parking path is determined to the target parking space via the sixth parking space according to the parking strategy corresponding to the sixth parking space, wherein the sixth parking space is a perpendicular parking space spaced one parking space apart from the fourth parking space, and the fourth parking space is a perpendicular parking space opposite to the target parking space with respect to the first lane.

[0023] In conjunction with the first aspect, in some optional implementations, before determining whether there is a vacant parking space within a preset range of the target parking space based on the collected environmental data, the method further includes:

[0024] Make sure the function switch representing automatic parking is on.

[0025] In a second aspect, an embodiment of the present application further provides an electronic device, comprising a processor and a memory coupled to each other, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the electronic device executes the above-mentioned method.

[0026] In a third aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program runs on a computer, the computer executes the above method.

[0027] The invention adopting the above technical solution has the following advantages:

[0028] In the technical solution provided by the present application, when the target parking space for the vehicle is a vertical parking space, and the side of the target parking space in the longitudinal direction is against a wall, and the target parking space is close to the first lane, based on the collected environmental data, it is determined whether there are vacant parking spaces within the preset range of the target parking space, wherein the first lane is a lane with a driving direction toward the wall; when there is at least one vacant parking space within the preset range of the target parking space, a parking space is selected from the at least one vacant parking space as a borrowed parking space; based on the parking strategy corresponding to the borrowed parking space, a parking path from the borrowed parking space to the target parking space is determined; and the vehicle is controlled to park along the parking path so that the vehicle is parked in the target parking space. In this solution, if the target parking space is a vertical parking space against a wall, the vacant parking spaces around the target parking space can be used as borrowed parking spaces to increase the parking space during the automatic parking process, thereby safely and automatically parking the vehicle in the target parking space with the help of the borrowed parking spaces, which can improve the problem of the vehicle being unable to safely and automatically park in a vertical parking space against a wall. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The present application may be further illustrated by the non-limiting embodiments provided in the accompanying drawings. It should be understood that the following drawings illustrate only certain embodiments of the present application and are therefore not to be construed as limiting the scope of the present application. It is understood that a person skilled in the art can derive other relevant drawings from these drawings without inventive effort.

[0030] Figure 1 1 is a flow chart of an automatic parking method for a vertical parking space against a wall provided by an embodiment of the present invention.

[0031] Figure 2 Schematic diagram of a typical wall parking scenario provided by an embodiment of the present invention.

[0032] Figure 3 This is a schematic diagram of the scene and path of parking in the wall parking space No. 1 by borrowing the parking space No. 4 provided by an embodiment of the present invention.

[0033] Figure 4 This is a schematic diagram of the scene and path of parking in the wall parking space No. 1 by borrowing the parking space No. 2 provided by an embodiment of the present invention.

[0034] Figure 5 This is a schematic diagram of the scene and path of parking in the wall parking space No. 1 by borrowing the parking space No. 3 provided by an embodiment of the present invention.

[0035] Figure 6 This is a schematic diagram of the scene and path of parking in the wall parking space No. 1 by borrowing the parking space No. 5 provided by an embodiment of the present invention.

[0036] Figure 7 This is a schematic diagram of the scene and path of parking in the wall parking space No. 1 by borrowing the parking space No. 6 provided by an embodiment of the present invention.

[0037] Figure 8 This is a wall parking scenario with no borrowed parking spaces provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0038] The present application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that similar or identical parts in the drawings or descriptions are numbered the same. Implementations not shown or described in the drawings are known to those of ordinary skill in the art. In the description of this application, the terms "first," "second," etc. are used solely to distinguish descriptions and are not to be construed as indicating or implying relative importance.

[0039] An embodiment of the present application provides an electronic device including a processing module and a storage module. The storage module stores a computer program, which, when executed by the processing module, enables the electronic device to perform corresponding steps in the following automatic parking method for a perpendicular parking space against a wall.

[0040] In this embodiment, electronic equipment is deployed on a vehicle with autonomous driving capabilities, enabling the vehicle to park automatically in unconventional parking spaces, expanding the application scenarios of autonomous parking. Specifically, the vehicle can park automatically in a perpendicular corner parking space by utilizing surrounding vacant spaces.

[0041] Please refer to Figure 1 The present application also provides a method for automatic parking in a vertical parking space against a wall, which can be applied to the above-mentioned electronic device, and each step of the method is executed or implemented by the electronic device. The method for automatic parking in a vertical parking space against a wall can include the following steps:

[0042] Step 110: When the target parking space for the vehicle is a vertical parking space, the longitudinal side of the target parking space is against a wall, and the target parking space is close to a first lane, based on the collected environmental data, determining whether there is a vacant parking space within a preset range of the target parking space, wherein the first lane is a lane with a driving direction toward the wall;

[0043] Step 120: When there is at least one vacant parking space within a preset range of the target parking space, select one of the at least one vacant parking spaces as a borrowed parking space;

[0044] Step 130: determining a parking path from the borrowed parking space to the target parking space based on a parking strategy corresponding to the borrowed parking space;

[0045] Step 140 : Control the vehicle to park along the parking path so as to park the vehicle at the target parking space.

[0046] The following is a detailed description of the steps of the automatic parking method for a vertical parking space against a wall:

[0047] Before step 110, the vehicle must ensure that the automatic parking function is enabled. That is, before determining whether there is an available parking space within the preset range of the target parking space based on the collected environmental data, the method further includes:

[0048] Make sure the function switch representing automatic parking is on.

[0049] Understandably, on this vehicle, if the function switch representing automatic parking is in the on state, it means that the automatic parking function of this vehicle has been activated; if the function switch representing automatic parking is in the off state, it means that the automatic parking function of this vehicle has not been activated.

[0050] Before the automatic parking function is activated, the vehicle can power on and self-check for faults. If a fault is detected, the vehicle computer or instrument panel will issue a fault alarm, and the automatic parking function will not be activated normally. If there are no faults, the function can be activated normally, that is, the automatic parking function is activated. The driver or the gear controller will then be required to shift the vehicle into forward gear D, and the parking space search phase will begin, that is, step 110. The vehicle power-on self-check method is conventional and will not be detailed here.

[0051] Please refer to Figure 2 ,exist Figure 2 In the example, parking space ① is parking space 1; parking space ② is parking space 2; parking space ③ is parking space 3; parking space ④ is parking space 4; parking space ⑤ is parking space 5; parking space ⑥ is parking space 6; the vehicle is vehicle 7. The side of parking space 1 in the longitudinal direction is against wall 8. Figure 2 In the parking space scenario shown, parking space ① is used as the target parking space for the vehicle. The implementation process of the method is illustrated as follows:

[0052] Considering that most real-world parking garages have parking spaces to the left and right of vehicle 7, the access road is a dual lane, and the width of the dual lanes is slightly longer than the vehicle's length. After activating the automatic parking function, vehicle 7 searches for a parking space from left to right, using ultrasonic sensors for obstacle detection and cameras for parking space recognition. Vehicle 7 continues forward until it encounters wall 8 and brakes to a stop. The intelligent parking system, by pre-identifying wall 8 as insufficient space ahead, uses 0 and 1 to represent the presence or absence of a wall. It then determines whether the user's selected parking space or the intended parking space is parking space 1. If so, it determines that parking space 1 is a wall space, triggering the wall parking logic.

[0053] In step 110, when it is determined that the target parking space is parking space 1, it means that parking space 1 is already vacant and can be used for parking the vehicle. In addition, the electronic device can obtain environmental data from the camera and radar module, and then determine whether there are vacant parking spaces in the surrounding parking spaces of parking space 1. The preset range of the target parking space can be flexibly determined according to the actual situation. For example, the preset range can refer to Figure 2 The area of ​​parking spaces 2 to 6 is shown. That is, by collecting environmental data, it is detected whether there are vacant parking spaces among the five parking spaces from parking spaces 2 to 6.

[0054] If there is no vacant parking space, Figure 8 , then the automatic parking is terminated. That is, when it is determined that there are no available parking spaces nearby, the vehicle's intelligent parking system will not allow parking in parking space 1, taking into account the difficulty of planning a U-turn and parking safety. The vehicle computer will prompt "Insufficient space ahead" and require the user to exit the parking function, and the status will jump to Parking Completed.

[0055] In step 120, if there is only one vacant parking space, the vacant parking space is the borrowed parking space. If there are two or more vacant parking spaces, one parking space can be selected from the vacant parking spaces as the borrowed parking space.

[0056] For example, selecting a parking space from the at least one vacant parking space as a borrowed parking space includes:

[0057] When there are multiple vacant parking spaces, based on preset priorities corresponding to parking difficulties of the parking spaces, a vacant parking space with the highest priority is selected from the multiple vacant parking spaces as the borrowed parking space.

[0058] It is understandable that the parking difficulty of vacant parking spaces at different locations is usually different. Different parking spaces have different priorities and parking difficulties. The higher the priority, the lower the parking difficulty. For example, Figure 2 In the game, when the borrowed parking space is parking space 4, the difficulty is the lowest and the corresponding priority is the highest.

[0059] For example, in Figure 2 In the case of borrowing parking spaces, the priority of the following parking spaces can be as follows:

[0060] Parking space 4 has the first priority (see the parking space scene for details). Figure 3 );

[0061] Parking space 2 has the second priority (see the parking space scene for details). Figure 4 );

[0062] The priority of parking space 3 is the third priority (see the parking space scene Figure 5 );

[0063] The priority of parking space 5 is the fourth priority (see the parking space scene Figure 6 );

[0064] The priority of parking space 6 is the fifth priority (see the parking space scene for details). Figure 7 ).

[0065] It is understandable that the first priority is the highest priority and the fifth priority is the lowest priority. By selecting the vacant parking space with the highest priority, it is beneficial to reduce the difficulty of parking during automatic parking and improve the safety and reliability of automatic parking.

[0066] In step 130 , the vehicle can flexibly select a corresponding parking path or parking trajectory based on the available parking spaces at different locations.

[0067] In step 140 , the vehicle may generate control parameters based on the determined parking path, and thereby control parameters such as the vehicle's driving speed and direction angle based on the control parameters, so that the vehicle can travel along the determined parking path.

[0068] As an optional implementation manner, determining a parking path from the borrowed parking space to the target parking space according to a parking strategy corresponding to the borrowed parking space includes:

[0069] When the borrowed parking space is the second parking space, a first parking path from the second parking space to the target parking space is determined according to the parking strategy corresponding to the second parking space (see Figure 4 Path 15 shown), wherein the second parking space is a vertical parking space adjacent to the target parking space.

[0070] As an optional implementation manner, determining a parking path from the borrowed parking space to the target parking space according to a parking strategy corresponding to the borrowed parking space includes:

[0071] When the borrowed parking space is the third parking space, a second parking path is determined from the third parking space to the target parking space according to the parking strategy corresponding to the third parking space (see Figure 5 Path 16 shown), wherein the third parking space is a vertical parking space spaced one parking space away from the target parking space.

[0072] As an optional implementation manner, determining a parking path from the borrowed parking space to the target parking space according to a parking strategy corresponding to the borrowed parking space includes:

[0073] When the borrowed parking space is the fourth parking space, a third parking path from the fourth parking space to the target parking space is determined according to the parking strategy corresponding to the fourth parking space (see Figure 3Path 14 shown), wherein the fourth parking space is a vertical parking space opposite to the target parking space with respect to the first lane.

[0074] As an optional implementation manner, determining a parking path from the borrowed parking space to the target parking space according to a parking strategy corresponding to the borrowed parking space includes:

[0075] When the borrowed parking space is the fifth parking space, a fourth parking path is determined from the fifth parking space to the target parking space according to the parking strategy corresponding to the fifth parking space (see Figure 6 Path 17 shown), wherein the fifth parking space is a vertical parking space adjacent to the fourth parking space, and the fourth parking space is a vertical parking space opposite to the target parking space with respect to the first lane.

[0076] As an optional implementation manner, determining a parking path from the borrowed parking space to the target parking space according to a parking strategy corresponding to the borrowed parking space includes:

[0077] When the borrowed parking space is the sixth parking space, a fifth parking path from the sixth parking space to the target parking space is determined according to the parking strategy corresponding to the sixth parking space (see Figure 7 18), wherein the sixth parking space is a vertical parking space spaced one parking space apart from the fourth parking space, and the fourth parking space is a vertical parking space space opposite to the target parking space with respect to the first lane.

[0078] It can be understood that when performing automatic parking, the vehicle first plans an automatic parking path based on the current position to park the vehicle in the borrowed parking space; then, when the vehicle enters the borrowed parking space, it uses the borrowed parking space as a new starting point and performs automatic parking path planning again to park the vehicle in the target parking space. Through two path planning, automatic parking in the borrowed parking space can be achieved.

[0079] The following will be based on Figure 2 The scenario shown, combined with Figures 3 to 7 , gives examples to illustrate the selection of parking paths under different parking spaces and automatic parking.

[0080] like Figure 3 As shown, vehicle 7 uses parking space No. ④ to park in parking space No. ①. Before the user selects a parking space, the smart parking system on the vehicle can list all the parking spaces around the vehicle (not limited to Figure 2The 6 shown, which can be 4-8) are stored in order, and the status of the corresponding parking spaces is stored, that is, whether they are occupied by an obstacle vehicle. When the intelligent parking system triggers the wall parking space borrowing parking logic, if the user selects parking space 1 No. 1 to park in, the electronic device first determines whether parking space 11 No. 4 is occupied. If the parking space is available, the intelligent parking system will perform borrowing parking according to the path 14 planned in the figure. Path 14 first plans vehicle 7 to park in parking space 11 No. 4 in the manner of entering the warehouse head first, and then plans vehicle 7 to return directly to parking space 1 No. 1, and thus parking in parking space 1 No. 1 against the wall can be completed by borrowing. This path 14 is the simplest method of borrowing parking path planning. Under the condition of high control accuracy, the intelligent parking system only needs two steps of planning to complete automatic parking. Compared with other parking space borrowing path planning methods and on-the-spot U-turn path planning methods, it greatly improves parking efficiency and ensures parking safety.

[0081] like Figures 4 to 7 As shown in the figure, while ensuring control accuracy, consider parking spaces 2, 3, 5, and 6, respectively, when they are unoccupied. Vehicle 7 then uses one of these spaces to park. The primary purpose is to park in and then exit using an empty space, allowing vehicle 7 to make a safer U-turn. In practice, regardless of whether parking spaces 2, 3 or 5, 6 are selected, the path planning approach using borrowed parking is roughly the same, even requiring the same number of steps (i.e., a four-segment path). Of course, considering that the vehicle is driving right to search for a parking space, when parking in spaces 5 and 6, the starting position of vehicle 7 is significantly laterally away from the target space, which increases the difficulty of path planning. Given that both the lane and algorithm control accuracy are less than ideal, the risk of parking in the opposite parking space is undoubtedly greater than that of parking in the space next to the target space. Therefore, parking spaces 2 and 3 should be prioritized before considering parking spaces 5 and 6.

[0082] like Figure 8 As shown, when there is no available parking space next to the target parking space (parking space 1), the intelligent parking system will no longer plan the parking path further, and prompt the user that "there is not enough space ahead", and will eliminate the released wall parking space 1, no longer allowing the user to select it, and even exit the parking function.

[0083] Based on the above design, automatic parking in a vertical parking space against a wall is achieved through a simpler and safer way of turning around; without increasing the cost, the conventional combination of two vertical parking space path planning can realize the path planning for borrowing different parking spaces.

[0084] In this embodiment, the processing module can be an integrated circuit chip with signal processing capabilities. The above-mentioned processing module can be a general-purpose processor. For example, the processor can be a central processing unit (CPU), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, and can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present application.

[0085] The storage module may be, but is not limited to, a random access memory, a read-only memory, a programmable read-only memory, an erasable programmable read-only memory, an electrically erasable programmable read-only memory, etc. In this embodiment, the storage module may be used to store parking strategies, parking paths corresponding to different borrowed parking spaces, etc. Of course, the storage module may also be used to store programs, which the processing module executes upon receiving an execution instruction.

[0086] It should be noted that those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working process of the electronic device described above can refer to the corresponding processes of each step in the aforementioned method, and will not be elaborated here.

[0087] The present application also provides a computer-readable storage medium that stores a computer program that, when executed on a computer, causes the computer to execute the automatic parking method for a perpendicular parking space against a wall as described in the above embodiment.

[0088] Through the description of the above implementation methods, those skilled in the art can clearly understand that the present application can be implemented through hardware or by means of software plus a necessary general hardware platform. Based on this understanding, the technical solution of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.), including a number of instructions for enabling a computer device (which can be a personal computer, an electronic device, or a network device, etc.) to execute the methods described in each implementation scenario of the present application.

[0089] In summary, embodiments of the present application provide a method, electronic device, and storage medium for automatic parking in a vertical parking space against a wall. In this solution, when a vehicle is to park in a vertical parking space, and its longitudinal side is against a wall, and the vehicle is close to a first lane, a determination is made based on collected environmental data as to whether there are any available parking spaces within a preset range of the target parking space, where the first lane is a lane with a travel direction toward the wall. When at least one available parking space exists within the preset range of the target parking space, a parking space is selected from the at least one available space as a borrowed parking space. A parking path is determined from the borrowed parking space to the target parking space based on a parking strategy corresponding to the borrowed parking space. The vehicle is then controlled to park along the parking path so that the vehicle is parked in the target parking space. In this solution, if the target parking space is a vertical parking space against the wall, the vacant parking spaces around the target parking space can be used as borrowed parking spaces to increase the parking space during the automatic parking process. With the help of the borrowed parking spaces, the vehicle can be safely and automatically parked in the target parking space, which can improve the problem that the vehicle cannot be safely and automatically parked in a vertical parking space against the wall.

[0090] In the embodiments provided in the present application, it should be understood that the disclosed devices, systems and methods can also be implemented in other ways. The device, system and method embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems, methods and computer program products according to the multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of code, and a part of the module, program segment or code includes one or more executable instructions for implementing the specified logical function. It should also be noted that each box in the block diagram and / or flowchart, and the combination of the boxes in the block diagram and / or flowchart can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. In addition, the functional modules in the various embodiments of the present application can be integrated together to form an independent part, or each module can exist alone, or two or more modules can be integrated to form an independent part.

[0091] The above description is merely an embodiment of the present application and is not intended to limit the scope of protection of the present application. For those skilled in the art, various modifications and variations of the present application are possible. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A method for automatic parking in a vertical parking space against a wall, characterized in that: The method comprises: When the target parking space for the vehicle is a vertical parking space, the longitudinal side of the target parking space is against a wall, and the target parking space is close to a first lane, based on the collected environmental data, it is determined whether there is a vacant parking space within a preset range of the target parking space, wherein the first lane is a lane with a driving direction toward the wall; When there is at least one vacant parking space within a preset range of the target parking space, selecting a parking space from the at least one vacant parking space as a borrowed parking space; determining, according to a parking strategy corresponding to the borrowed parking space, a parking path from the borrowed parking space to the target parking space; The vehicle is controlled to park along the parking path so as to park at the target parking space.

2. The method according to claim 1, characterized in that Selecting a parking space from the at least one vacant parking space as a borrowed parking space includes: When there are multiple vacant parking spaces, based on preset priorities corresponding to parking difficulties of the parking spaces, a vacant parking space with the highest priority is selected from the multiple vacant parking spaces as the borrowed parking space.

3. The method according to claim 1, characterized in that Determining a parking path from the borrowed parking space to the target parking space according to a parking strategy corresponding to the borrowed parking space includes: When the borrowed parking space is a second parking space, a first parking path is determined to the target parking space via the second parking space according to a parking strategy corresponding to the second parking space, wherein the second parking space is a perpendicular parking space adjacent to the target parking space.

4. The method according to claim 1, wherein Determining a parking path from the borrowed parking space to the target parking space according to a parking strategy corresponding to the borrowed parking space includes: When the borrowed parking space is the third parking space, a second parking path is determined to the target parking space via the third parking space according to the parking strategy corresponding to the third parking space, wherein the third parking space is a perpendicular parking space spaced one parking space from the target parking space.

5. The method according to claim 1, characterized in that Determining a parking path from the borrowed parking space to the target parking space according to a parking strategy corresponding to the borrowed parking space includes: When the borrowed parking space is the fourth parking space, a third parking path is determined from the fourth parking space to the target parking space according to the parking strategy corresponding to the fourth parking space, wherein the fourth parking space is a perpendicular parking space opposite to the target parking space with respect to the first lane.

6. The method according to claim 1, characterized in that Determining a parking path from the borrowed parking space to the target parking space according to a parking strategy corresponding to the borrowed parking space includes: When the borrowed parking space is the fifth parking space, a fourth parking path is determined to the target parking space via the fifth parking space according to the parking strategy corresponding to the fifth parking space, wherein the fifth parking space is a perpendicular parking space adjacent to the fourth parking space, and the fourth parking space is a perpendicular parking space opposite to the target parking space with respect to the first lane.

7. The method according to claim 1, characterized in that Determining a parking path from the borrowed parking space to the target parking space according to a parking strategy corresponding to the borrowed parking space includes: When the borrowed parking space is the sixth parking space, a fifth parking path is determined to the target parking space via the sixth parking space according to the parking strategy corresponding to the sixth parking space, wherein the sixth parking space is a perpendicular parking space spaced one parking space apart from the fourth parking space, and the fourth parking space is a perpendicular parking space opposite to the target parking space with respect to the first lane.

8. The method according to claim 1, characterized in that Before determining whether there is a vacant parking space within a preset range of the target parking space based on the collected environmental data, the method further includes: Make sure the function switch representing automatic parking is on.

9. An electronic device, characterized in that: The electronic device includes a processor and a memory coupled to each other, wherein a computer program is stored in the memory. When the computer program is executed by the processor, the electronic device executes the method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is run on a computer, the computer is caused to execute the method according to any one of claims 1 to 8.

Images