Automatic parking method and device of vehicle, vehicle and storage medium

Abstract

The application relates to an automatic parking method and device of a vehicle, wherein the method comprises the following steps: acquiring parking space information of a plurality of parking spaces; according to the parking space information of each parking space and parking information of the vehicle, screening out the parking spaces from each parking space, wherein the actual included angle between each parking space and the vehicle is greater than or equal to a preset included angle, the parking space outside each parking space does not satisfy a preset outside space condition, and the parking space inside each parking space does not satisfy a preset inside space condition; determining a best parking space of the vehicle from the remaining parking spaces, and controlling the vehicle to perform a parking action according to the best parking space. The application can further screen the availability of the parking spaces based on the calculation result, effectively reduces the risk of parking failure of the automatic parking system, and prevents the risk of being stuck in the automatic parking system.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic operation for parking, and in particular to an automatic parking method and device for a vehicle, a vehicle and a storage medium. BACKGROUND

[0002] With the rise of intelligent driving today, vehicles equipped with automatic parking assistance systems are becoming increasingly popular. The first step in the automatic parking assistance system is the selection of a target parking space. A reasonable parking space can greatly increase the efficiency of automatic parking, while an unreasonable parking space can increase the number of times the vehicle is parked and even cause the vehicle to be stuck during parking. Therefore, for an automatic parking system, selecting an ideal target parking space is the basis for ensuring smooth and complete system operation.

[0003] In related technologies, for example, a scheme based on visual perception information to identify and shape correct a marked parking space, and based on visual information to identify a parking space; another scheme based on ultrasonic perception information to detect a space parking space. This scheme can give the original space parking space based on the space in the parking space.

[0004] However, the accuracy and reliability of the related art for determining the parking space are low, limited to the space in the parking space, and have certain limitations, and are limited to a single parking space, reducing the intelligence of parking while providing a poor parking experience, which needs to be improved. SUMMARY

[0005] The present application provides an automatic parking method and device for a vehicle to solve the problem of low accuracy and reliability of determining the parking space in related art, limited to the space in the parking space, and limited to a single parking space, reducing the intelligence of parking while providing a poor parking experience.

[0006] The first aspect of the present application provides an automatic parking method for a vehicle, comprising the following steps: obtaining parking space information of a plurality of parking spaces; according to the parking space information of each parking space and the parking information of the vehicle, excluding the parking spaces that have an actual included angle between the vehicle and the parking space greater than or equal to a preset included angle, parking space information outside the parking space that does not meet a preset outside space condition, and parking space information inside the parking space that does not meet a preset inside space condition; and determining the best parking space for the vehicle from the remaining parking spaces and controlling the vehicle to perform a parking action according to the best parking space.

[0007] According to the technical means, the parking space information of each parking space can be calculated based on the parking space information of each parking space and the parking information of the vehicle, and then the best parking space of the vehicle can be selected according to the availability, so that the original parking space information is further filtered, and compared with the prior art, the risk of automatic parking system failure can be effectively avoided.

[0008] Optionally, in an embodiment of the present application, the parking space information of the plurality of parking spaces comprises: collecting parking space attributes and position coordinate information of each parking space; and / or detecting surrounding obstacle information of each parking space; and generating the parking space information of each parking space according to the parking space attributes, the position coordinate information and / or the surrounding obstacle information.

[0009] According to the technical means, the parking space attributes, the position coordinate information and the surrounding obstacle information of the parking space are used as the basic parking space information, so that the availability can be screened according to the parking space information, and the automatic parking process of the vehicle can be avoided due to insufficient parking space or surrounding obstacles.

[0010] Optionally, in an embodiment of the present application, the parking space information of the plurality of parking spaces comprises: collecting parking space attributes and position coordinate information of each parking space; and / or detecting surrounding obstacle information of each parking space; and generating the parking space information of each parking space according to the parking space attributes, the position coordinate information and / or the surrounding obstacle information.

[0011] According to the technical means, the best parking space of the vehicle can be determined according to the actual angle between the parking space and the vehicle, the parking space information outside the parking space and the parking space information, the available space inside and outside the parking space is calculated, the risk of being stuck in the automatic parking system is effectively prevented, and the vehicle is not interfered by obstacles in the automatic parking process.

[0012] Optionally, in an embodiment of the present application, the best parking space of the vehicle is determined from the remaining parking spaces, including: determining the best parking space according to the parking space information inside each parking space of the remaining parking spaces, the driving distance between each parking space of the remaining parking spaces and the vehicle and / or the actual category and corresponding weight of each parking space of the remaining parking spaces.

[0013] According to the technical means, the best parking space can be determined based on the actual situation in all parking spaces meeting the parking condition, thereby increasing the success rate of the automatic parking system.

[0014] Optionally, in an embodiment of the present application, after the parking spaces not meeting the preset available condition are screened out, the method further includes: when the parking spaces not meeting the preset available condition are all the parking spaces, sending a manual operation reminder to the user.

[0015] According to the technical means, the user can choose manual parking when there is no parking space, which is more applicable, avoids the vehicle from being parked for a long time when automatic parking is not available, affects the traffic, and reduces the driving experience of the user.

[0016] The second aspect embodiment of the present application provides an automatic parking device of a vehicle, including: an acquisition module configured to acquire parking space information of a plurality of parking spaces; a judgment module configured to screen out a parking space from the plurality of parking spaces according to the parking space information of each parking space and parking information of a vehicle, when an actual angle between the each parking space and the vehicle is greater than or equal to a preset angle, parking space information outside the each parking space does not meet a preset outside space condition, and parking space information inside the each parking space does not meet a preset inside space condition; and a control module configured to determine a best parking space of the vehicle from the remaining parking spaces, and control the vehicle to perform a parking action according to the best parking space.

[0017] Optionally, in one embodiment of this application, the acquisition module includes: an acquisition unit, configured to collect parking space attributes and location coordinate information of each available parking space, and / or detect surrounding obstacle information of each available parking space; and a generation unit, configured to generate parking space information of each available parking space based on the parking space attributes, the location coordinate information, and / or the surrounding obstacle information.

[0018] Optionally, in one embodiment of this application, the judgment module includes: a first filtering unit, configured to calculate the actual angle between each available parking space and the vehicle based on the parking space information of each available parking space, according to the current heading angle of the vehicle and the heading angle at the previous moment, and filter out at least one first available parking space where the actual angle is less than a preset angle; a second filtering unit, configured to identify the parking space information outside each available parking space based on a preset coordinate system obtained from the parking space information of each available parking space and the parking space information, and filter out from the at least one first available parking space The system includes: at least one second available parking space whose external parking space information meets preset external space conditions; a third filtering unit for filtering at least one third available parking space from the at least one second available parking space that meets the parking conditions obtained from the parking space information; an identification unit for identifying the parking space information within each third available parking space based on the parking space information of each available parking space; and a calculation unit for filtering at least one third available parking space that meets preset internal space conditions based on the parking space information within each third available parking space, to obtain the remaining available parking spaces.

[0019] Optionally, in one embodiment of this application, the control module includes: a determining unit, configured to determine the optimal parking space based on the parking space information within each of the remaining available parking spaces, the driving distance between each of the remaining available parking spaces and the vehicle, and / or the actual category and corresponding weight of each of the remaining available parking spaces.

[0020] Optionally, in one embodiment of this application, it further includes: a reminder module, used to send a manual operation reminder to the user when all of the plurality of available parking spaces do not meet the preset availability conditions.

[0021] A third aspect of this application provides a vehicle, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the automatic parking method for the vehicle as described in the above embodiments.

[0022] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described automatic parking method for a vehicle.

[0023] The beneficial effects of the embodiments of this application are as follows:

[0024] (1) The embodiments of this application can obtain information on all available parking spaces around the vehicle and the vehicle's parking information, and filter out the best parking space from them, thereby increasing the probability of successful parking and realizing intelligent parking.

[0025] (2) In addition to obtaining the space information within the parking space, this application embodiment can also obtain the space information outside the parking space, thereby ensuring that the vehicle will not get stuck due to obstacles during the parking process.

[0026] (3) In addition to conventional parking methods, this application also incorporates perpendicular parking into the parking strategy, thereby increasing its applicability.

[0027] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0028] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0029] Figure 1 This is a flowchart of an automatic parking method for a vehicle according to an embodiment of this application;

[0030] Figure 2 This is a schematic diagram of vertical parking space filling in an automatic parking method for a vehicle according to an embodiment of this application;

[0031] Figure 3 This is a schematic diagram of a coordinate system based on vertical parking space coordinate transformation for an automatic parking method for a vehicle according to an embodiment of this application;

[0032] Figure 4 This is a schematic diagram of the vertical parking space calculation area for an automatic parking method for a vehicle according to an embodiment of this application.

[0033] Figure 5 This is a schematic diagram of the vertical parking space calculation area for an automatic parking method for a vehicle according to an embodiment of this application;

[0034] Figure 6a This is a schematic diagram illustrating the program execution principle of an automatic parking method for a vehicle according to an embodiment of this application;

[0035] Figure 6b This is a partially enlarged view of a schematic diagram illustrating the program execution principle of an automatic parking method for a vehicle according to an embodiment of this application;

[0036] Figure 6c This is another partially enlarged view of a schematic diagram illustrating the program execution principle of an automatic parking method for a vehicle according to an embodiment of this application;

[0037] Figure 6d This is a further enlarged view of a schematic diagram illustrating the program execution principle of an automatic parking method for a vehicle according to an embodiment of this application;

[0038] Figure 7 This is a flowchart of an automatic parking method for a vehicle according to an embodiment of this application;

[0039] Figure 8 This is a schematic diagram of the structure of an automatic parking device for a vehicle according to an embodiment of this application;

[0040] Figure 9 This is a structural schematic diagram of a vehicle provided according to an embodiment of this application.

[0041] Among them, 10-automatic parking device for vehicles; 100-acquisition module, 200-judgment module, 300-control module. Detailed Implementation

[0042] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0043] The following description, with reference to the accompanying drawings, describes an automatic parking method and apparatus for a vehicle according to embodiments of this application. Addressing the issues raised in the background section regarding the low accuracy and reliability of parking space determination, the limitation of determination scope to the space within the parking space, and the limitation to a single parking space, which reduces the intelligence of parking and results in a poor parking experience, this application provides an automatic parking method for a vehicle. In this method, based on parking space information and vehicle parking information, it can determine whether each available parking space meets preset availability conditions, thereby selecting the optimal parking space and achieving automatic parking. Based on the calculation results, the availability of available parking spaces is further filtered. The selected parking spaces effectively reduce the risk of parking failure in the automatic parking system and effectively prevent the risk of the automatic parking system getting stuck during parking. Therefore, this solves the problems of low accuracy and reliability of parking space determination, the limitation of determination scope to the space within the parking space, and the limitation to a single parking space, which reduces the intelligence of parking and results in a poor parking experience in the related technologies.

[0044] Specifically, Figure 1 This is a schematic flowchart illustrating an automatic parking method for a vehicle provided in an embodiment of this application.

[0045] like Figure 1 As shown, the automatic parking method for this vehicle includes the following steps:

[0046] In step S101, parking space information for multiple available parking spaces is obtained.

[0047] In actual implementation, the embodiments of this application can obtain parking space information of multiple available parking spaces, that is, parking space information of parking spaces that are empty in accordance with traffic rules. The parking space information may include original parking space information such as parking space attributes, parking space boundary information, and parking space type.

[0048] Parking space information can be obtained through vehicle-to-everything (V2X) networks, GPS (Global Positioning System) information, vehicle-mounted cameras, or ultrasonic radar.

[0049] Optionally, in one embodiment of this application, obtaining parking space information for multiple available parking spaces includes: collecting parking space attributes and location coordinate information for each available parking space; and / or detecting surrounding obstacle information for each available parking space; and generating parking space information for each available parking space based on the parking space attributes, location coordinate information, and / or surrounding obstacle information.

[0050] Specifically, the parking space attributes of each available parking space collected in this application embodiment can be divided into marked parking spaces and open parking spaces. The location coordinate information collected in this application embodiment can be the coordinates of the four corners of the parking space boundary: P0 coordinate, P1 coordinate, P2 coordinate and P3 coordinate.

[0051] Furthermore, based on the type of parking space, parking spaces can be divided into marked parking spaces and open-space parking spaces. When the shape of an open-space parking space is irregular, this embodiment of the application can fill the open-space parking space into a parallelogram.

[0052] Specifically, the methods for determining the shape of a parking space and filling irregular parking spaces can be as follows:

[0053] This application embodiment can calculate the lengths of line segments P0P2 and P1P3, and the calculation formula is as follows:

[0054]

[0055]

[0056] If |Dist P0P2 -Dist P1P3|≤20, the parking space can be considered to have a regular shape according to the embodiments of this application;

[0057] Conversely, in this embodiment of the application, the parking space can be filled by projection, such as... Figure 2 As shown, with Dist P0P2 >Dist P1P3 For example:

[0058] Since P1P3 is relatively short, the embodiments of this application can recalculate the padded P1 coordinates (P1_new). x ,P1_new y Thus, we can obtain the following system of equations:

[0059]

[0060] Solving for the given information, we get:

[0061]

[0062]

[0063] The embodiments of this application can be used to solve (P1_new) x ,P1_new y Then, the initial P1 coordinate is replaced, and the resulting parking space is the filled parking space.

[0064] Similarly, Dist P0P2 <Dist P1P3 In this case, the processing method for P0 can be the same as that for P1.

[0065] Furthermore, embodiments of this application can determine the parking space type by combining boundary coordinates. The parking space type can include parallel parking spaces, perpendicular parking spaces, and angled parking spaces, etc., and the specific calculation method can be as follows:

[0066] This application embodiment can calculate the parking space P1 angle Angle_P1, in deg:

[0067]

[0068] If |Angle_P1-90|>10, then the parking space is an angled parking space;

[0069] If Dis P0P1 ≤Dis P1P3 Then the parking space is a perpendicular parking space;

[0070] If Dis P0P1 >Dis P1P3 If so, the parking space is a parallel parking space.

[0071] Furthermore, in this embodiment of the application, ultrasonic radar can be used to detect the surrounding obstacle information of each available parking space and determine the parking space information outside each available parking space, so as to prevent the vehicle from getting stuck due to insufficient parking space during the automatic parking process.

[0072] Furthermore, in this embodiment of the application, parking space information for each available parking space is generated based on parking space attributes, location coordinate information, and / or surrounding obstacle information. This facilitates the subsequent determination of the availability of parking spaces based on the available parking space information, and then the selection of the optimal parking space through filtering.

[0073] In step S102, based on the parking space information and vehicle parking information of each available parking space, parking spaces that are filtered out include those whose actual angle between the available parking space and the vehicle is greater than or equal to a preset angle, whose external parking space information does not meet the preset external space conditions, and whose internal parking space information does not meet the preset internal space conditions.

[0074] As one possible implementation, this application embodiment can determine whether each available parking space meets the following conditions based on the parking space information and vehicle parking information obtained in the above steps: the actual angle is less than a preset angle, the parking space information outside the parking space meets preset external space conditions, and the parking space information inside the parking space meets preset internal space conditions. Parking spaces that do not meet the preset availability conditions are then eliminated. The vehicle parking information may include the vehicle's current coordinates, heading angle, etc. This application embodiment can determine whether each parking space is available by setting availability conditions, and then filter the best parking space based on availability, thereby increasing the smoothness and completion rate of automatic parking.

[0075] It should be noted that the preset included angle, preset outer space conditions, and preset inner space conditions will be explained in detail below.

[0076] Optionally, in one embodiment of this application, based on the parking space information of each available parking space and the parking information of the vehicle, filtering out available parking spaces that have an actual angle between the available parking space and the vehicle greater than or equal to a preset angle, whose external parking space information does not meet preset external space conditions, or whose internal parking space information does not meet preset internal space conditions, includes: calculating the actual angle between each available parking space and the vehicle based on the parking space information of each available parking space, according to the vehicle's current heading angle and the heading angle at the previous moment, and filtering out at least one first available parking space with an actual angle less than a preset angle; based on the parking space information of each available parking space... The system uses a preset coordinate system and parking space information to identify the external parking space information of each available parking space. It then selects at least one second available parking space from at least one first available parking space whose external parking space information satisfies preset external space conditions. From at least one second available parking space, it selects at least one third available parking space that satisfies the parking conditions obtained from the parking space information. Based on the parking space information of each available parking space, it identifies the internal parking space information of each third available parking space. Finally, based on the internal parking space information of each third available parking space, it selects at least one third available parking space that satisfies preset internal space conditions to obtain the remaining available parking spaces.

[0077] Here, the preset included angle, preset outer space conditions, and preset inner space conditions are explained.

[0078] In actual implementation, the embodiments of this application can determine whether each available parking space is available by filtering layer by layer. The specific filtering method can be as follows:

[0079] 1. Filtering based on the actual angle between the lane direction of each available parking space and the vehicle.

[0080] This application embodiment can calculate the angle θ between the vehicle's heading angle and the line connecting the lane heading of the parking space, and remove parking spaces with excessively large angles. The calculation method is as follows, and the angle unit in the calculation is deg:

[0081] The vehicle's heading angle is the angle θ between the vehicle's heading angle and the heading angle of the lane where the parking space is located; the vehicle's real-time heading angle. The vehicle heading angle at time i can be expressed by the following relationship:

[0082]

[0083] Based on the above formula, this application embodiment can select at least one first parking space with an actual included angle smaller than a preset included angle.

[0084] For example, if the parking space attribute is a spatial parking space, the preset angle for the parking space rejection condition can be: θ>10; if the parking space attribute is a marked parking space, the preset angle for the parking space rejection condition can be: θ>15.

[0085] 2. Filtering based on parking space information outside each available parking space.

[0086] This application embodiment can, based on the first selected available parking spaces, further select a second available parking space. Specifically, as shown... Figure 3 As shown in the embodiment of this application, the parking space information outside each parking space can be calculated, and parking spaces with insufficient parking space outside the parking space can be eliminated. The calculation method is as follows:

[0087] First, such as Figure 3 As shown, in this embodiment of the application, the origin is parking space P0, and the direction of travel of the lane where the parking space is located is... The x-axis is in the positive direction, and P2 y If the value is less than 0, perform a coordinate transformation.

[0088] The coordinate transformation process can be as follows:

[0089] In this embodiment, the original coordinates can be assumed to be (x, y), and the transformed coordinates can be (x, y). tran ,y tran ).

[0090]

[0091]

[0092]

[0093]

[0094] The embodiments of this application can convert the coordinates of parking spot and vehicle outline point to obtain P0_tran, P1_tran, Veh1_tran, Veh2_tran, Veh3_tran, and Veh4_tran.

[0095] Uplimit = Min(Veh1_tran) y ,Veh2_tran y ,Veh3_tran y ,Veh4_tran y ),

[0096] HighMax = Max(Veh1_tran) y ,Veh2_tran y ,Veh3_tran y,Veh4_tran y ),

[0097] The parking space can be removed in this application embodiment when one of the following conditions is met:

[0098] If the currently calculated available parking space is a marked parking space, Uplimit ≤ 0; if the currently calculated available parking space is a vacant parking space, Uplimit ≤ 50.

[0099] Secondly, the embodiments of this application can determine the computation region. It is understood that the computation region is a quadrilateral, and the four vertices of the upper computation region can be as follows:

[0100] {AboveAreaP1 x AboveAreaP1 y}={P0_tran x 710},

[0101] {AboveAreaP2 x AboveAreaP2 y}={P1_tran x +400 710},

[0102] {AboveAreaP3 x AboveAreaP3 y}={P0_tran x Uplimit},

[0103] {AboveAreaP4 x AboveAreaP4 y}={P1_tran x +400 Uplimit},

[0104] Initialize the available area above:

[0105] AboveRemian = 710 - Uplimit

[0106] The four vertices of the computation region below are as follows:

[0107] {BlowAreaP1 x BlowAreaP1 y}={P0_tran x Uplimit},

[0108] {BlowAreaP2 x BlowAreaP2 y}={P0_tran x+100 Uplimit},

[0109] {BlowAreaP3 x BlowAreaP3 y}={P0_tran x P0_tran y -100},

[0110] {BlowAreaP4 x BlowAreaP4 y}={P0_tran x +100 P0_tran y -100},

[0111] Initialize the available area below:

[0112] BlowRemian = Uplimit.

[0113] Finally, as Figure 4 As shown, in this embodiment of the application, coordinate transformation can be performed on each ultrasonic line segment, and the portion of the ultrasonic line segment within the upper calculation area is taken as the upper effective ultrasonic line segment, and the portion of the ultrasonic line segment within the lower calculation area is taken as the lower effective ultrasonic line segment.

[0114] In this embodiment, the available area above can be updated based on the effective ultrasonic line segment above:

[0115] AboveRemian=Min(AboveRemian,Min(Cluster1 y Cluster2 y )-Uplimit),

[0116] This application embodiment can update the available area above based on the effective ultrasonic line segment below:

[0117] BlowRemian=Min(BlowRemian,Uplimit-Max(Cluster1 y Cluster2 y )),

[0118] The parking space can be excluded under any of the following circumstances:

[0119] AboveRemian-HighMax < 80;

[0120] BlowRemian < 50.

[0121] It should be noted that if a currently calculated available parking space is removed during the calculation process, this embodiment of the application can repeat the calculation process to calculate new available parking spaces.

[0122] 3. Filtering of parking space information within each third available parking space.

[0123] This application embodiment can filter for a third available parking space based on the selected second available parking space. The specific filtering method can be as follows:

[0124] Firstly, the embodiments of this application can calculate the length and width information of each parking space and eliminate parking spaces that are insufficient in length and width. The calculation process is as follows:

[0125] First, in this embodiment of the application, the length and width of the parking space can be obtained by calculating the lengths of P0P1 and P0P2:

[0126]

[0127]

[0128] Length = Max(Dist) P0P2 Dist P0P1 ),

[0129] Width = Min(Dist) P0P2 Dist P0P1 ).

[0130] If the currently calculated available parking space is a marked parking space, then the following determination can be made in this embodiment of the application:

[0131] If the parking space type is parallel parking space and one of the following conditions is met, the currently calculated available parking spaces can be removed:

[0132] Width < 180,

[0133] Width>300,

[0134] Length<480,

[0135] Length > 640;

[0136] If a parking space is a perpendicular or angled parking space, and meets one of the following conditions, the currently calculated available parking spaces can be removed:

[0137] Width<200,

[0138] Width>330,

[0139] Length < 480.

[0140] If the currently calculated available parking space is a space parking space, then the following determination can be made in this embodiment of the application:

[0141] If the parking space type is parallel parking space and one of the following conditions is met, the currently calculated available parking spaces can be removed:

[0142] Width < 160,

[0143] Length < 500;

[0144] If a parking space is a perpendicular or angled parking space, and meets one of the following conditions, the currently calculated available parking spaces can be removed:

[0145] Width < 210,

[0146] Length < 300.

[0147] It should be noted that if a currently calculated available parking space is removed during the calculation process, this embodiment of the application can repeat the calculation process to calculate new available parking spaces.

[0148] Secondly, in this embodiment of the application, the available parking space within the parking space can be calculated based on the ultrasonic line segment information surrounding the parking space, and parking spaces with insufficient remaining width can be eliminated. The calculation process can be as follows:

[0149] First, such as Figure 3 As shown, in this embodiment of the application, the origin can be parking space P0. The positive x-axis represents the direction of travel of the lane where the parking space is located. The x-axis is in the positive direction, and P2 y If the coordinates are less than 0, perform a coordinate transformation to obtain P0_tran and P1_tran from the coordinates of the parking position and the vehicle contour point. tran P2 tran P3 tran .

[0150] Secondly, the embodiments of this application can determine the computation region, which is a quadrilateral, and the four vertices of the computation region can be as follows:

[0151] {AreaP1 x AreaP1 y}={P0_tran x -100 100},

[0152] {AreaP2 x AreaP2 y}={P1_tran x +100 100},

[0153] If the currently calculated available parking space is a perpendicular or angled parking space:

[0154]

[0155]

[0156]

[0157]

[0158] If the currently calculated available parking space is a parallel parking space:

[0159]

[0160]

[0161]

[0162]

[0163] Further calculation of the region's center parameters:

[0164]

[0165]

[0166]

[0167] Initialize the remaining space on the left and right:

[0168] LeftRemain = 1000,

[0169] RightRemain = 1000

[0170] Calculate the inner half width of the parking space:

[0171]

[0172] Finally, as Figure 5 As shown, in this embodiment of the application, coordinate transformation can be performed on each ultrasonic line segment, and the portion of the ultrasonic line segment within the calculation area is taken as the effective ultrasonic line segment. The effective ultrasonic line segment is used to determine whether the space inside the parking space needs to be deleted.

[0173] When the ultrasonic line segment crosses the center of the calculated area, the following criteria can be used for judgment:

[0174] (ParaA·Cluster1 x +ParaB·Cluster1 y +ParaC)·(ParaA·Cluster2x +ParaB·

[0175] Cluster2y+ParaC≤0.

[0176] This application embodiment can further update the remaining space on the left and right sides:

[0177] If the effective ultrasound line segment is to the left of the midline, the judgment can be made as follows:

[0178] (ParaA·Cluster1 x +ParaB·Cluster1 y +ParaC)·(paraA·AreaP1 x +ParaB·

[0179] AreaP1y+ParaC>0,

[0180] This application embodiment can further update the remaining space on the left:

[0181]

[0182] If the effective ultrasound line segment is to the right of the midline, the judgment can be made as follows:

[0183] (ParaA·Cluster1 x +ParaB·Cluster1 y +ParaC)·(ParaA·AreaP2 x +ParaB·

[0184] AreaP2y+ParaC>0,

[0185] This application embodiment can further update the remaining space on the left:

[0186]

[0187] If the parking space type is parallel parking space and one of the following conditions is met, the currently calculated available parking spaces can be removed:

[0188] RightRemain + LeftRemain < 500

[0189] RightRemain+HalfWidth<500

[0190] LeftRemain+HalfWidth<480;

[0191] If the parking space type is perpendicular parking space, and one of the following conditions is met, the currently calculated available parking spaces can be removed:

[0192] RightRemain + LeftRemain < 210,

[0193] RightRemain+HalfWidth<210,

[0194] LeftRemain+HalfWidth<210.

[0195] It should be noted that if a currently calculated available parking space is removed during the calculation process, this embodiment of the application can repeat the calculation process to calculate new available parking spaces.

[0196] Optionally, in one embodiment of this application, after filtering out parking spaces that do not meet the preset availability conditions, the method further includes: when all the parking spaces that do not meet the preset availability conditions are parking spaces, sending a manual operation reminder to the user.

[0197] Specifically, after calculating the availability of each available parking space, this application can monitor whether the availability of each available parking space meets the optimal screening criteria. When the availability of all available parking spaces does not meet the optimal screening criteria, in order to avoid the vehicle colliding with or getting stuck with obstacles during automatic parking, this application embodiment can send a manual operation reminder to the user, thereby effectively reducing the risk of automatic parking system failure and preventing the vehicle from being stationary for a long time when it cannot park automatically, which would affect traffic and reduce the user's driving experience.

[0198] In this application embodiment, manual operation reminders can be provided through visual, auditory, and tactile means. For example, this application embodiment can provide manual operation reminders to users through voice reminders, center console indicator lights, steering wheel vibration, or a combination of multiple reminders.

[0199] In step S103, the optimal parking space for the vehicle is determined from the remaining available parking spaces, and the vehicle is controlled to perform a parking action in accordance with the optimal parking space.

[0200] In actual implementation, the embodiments of this application can determine the best parking space from the remaining available parking spaces after eliminating all unavailable parking spaces, and control the vehicle to perform parking actions according to the best parking space, thereby achieving smooth and efficient automatic parking.

[0201] Optionally, in one embodiment of this application, determining the optimal parking space for the vehicle from the remaining available parking spaces includes: determining the optimal parking space based on the parking space information within each of the remaining available parking spaces, the driving distance between each of the remaining available parking spaces and the vehicle, and / or the actual category and corresponding weight of each of the remaining available parking spaces.

[0202] Understandably, the parking space information for each available parking space can include the dimensions of the parking space (length, width, and height) and whether there are any obstacles inside, thus ensuring that the vehicle can enter the parking space completely.

[0203] Furthermore, embodiments of this application can also combine the driving distance between each available parking space and the vehicle and / or the actual category and corresponding weight of each available parking space to evaluate the availability of each available parking space from the aspects of space, distance and parking method, so as to ensure the reliability of availability assessment and improve automatic parking efficiency.

[0204] The specific recommendation algorithm is as follows:

[0205] 1. Determine the lane-side attribute of the vehicle as follows: If the available parking space is only on the left or right side of the vehicle, the lane-side attribute is 0; if there are available parking spaces on both sides of the vehicle, take the parking space with the shortest longitudinal distance on the left and right sides, calculate the lateral distance between the parking space and the vehicle. If the lateral distance of the parking space on the left is closer, the lane-side attribute of the vehicle is 1; if the lateral distance of the parking space on the right is closer, the lane-side attribute of the vehicle is 2.

[0206] 2. Calculate the parking cost for each parking space as follows: The initial cost of a parking space is the longitudinal distance from the end point of the parking space P0P1 to the center point of the rear axle of the vehicle; if the vehicle's lane side attribute is not 0 and is not consistent with the side direction of the parking space, the cost increases by 500; if the parking space is a space parking space, the cost increases by 200; if the remaining space in the parking space is less than the vehicle width + 100, the cost increases by 200; if the width of the lane connecting the parking space is less than 450, the cost increases by 200.

[0207] 3. Calculate the cost of each available parking space, sort them from smallest to largest, and the parking space with the lowest cost is the recommended parking space.

[0208] It should be noted that the corresponding weight of each parking space category can be set by those skilled in the art based on the actual situation of the vehicle and user habits, and no specific restrictions are imposed here.

[0209] Specifically, in combination Figure 2 to Figure 7As shown, the working principle of the automatic parking method for vehicles according to an embodiment of this application will be explained in detail with a specific example.

[0210] in, Figure 6a This is a flowchart illustrating the execution of the automatic parking method for a vehicle according to an embodiment of this application. Figure 6b and Figure 6c They are respectively Figure 6a A magnified view of a portion of the image. Figure 6d for Figure 6b A magnified view of the area within the Chinese box.

[0211] like Figure 7 As shown, embodiments of this application may include the following steps:

[0212] Step S701: Preprocess parking space information. The original parking space information may include: parking space attributes, coordinates of parking space boundary point P0, coordinates of parking space boundary point P1, coordinates of parking space boundary point P2, and coordinates of parking space boundary point P3. In this embodiment, parking spaces can be divided into marked parking spaces and open-space parking spaces based on their original type. If the shape of an open-space parking space is irregular, it will be filled into a parallelogram.

[0213] Specifically, the methods for determining the shape of a parking space and filling irregular parking spaces can be as follows:

[0214] This application embodiment can calculate the lengths of line segments P0P2 and P1P3, and the calculation formula is as follows:

[0215]

[0216]

[0217] If |Dist P0P2 -Dist P1P3 |≤20, the parking space can be considered to have a regular shape according to the embodiments of this application;

[0218] Conversely, in this embodiment of the application, the parking space can be filled by projection, such as... Figure 2 As shown, with Dist P0P2 >Dist P1P3 For example:

[0219] Since P1P3 is relatively short, the embodiments of this application can recalculate the padded P1 coordinates (P1_new). x ,P1_new y Thus, we can obtain the following system of equations:

[0220]

[0221] Solving for the given information, we get:

[0222]

[0223]

[0224] The embodiments of this application can be used to solve (P1_new) x ,P1_new y Then, the initial P1 coordinate is replaced, and the resulting parking space is the filled parking space.

[0225] Similarly, Dist P0P2 <Dist P1P3 In this case, the processing method for P0 can be the same as that for P1.

[0226] Step S702: Determine the parking space type. Further, in this embodiment, the parking space type can be determined by combining boundary coordinates. The parking space type may include parallel parking spaces, perpendicular parking spaces, and angled parking spaces, etc., and the specific calculation method can be as follows:

[0227] This application embodiment can calculate the parking space P1 angle Angle_P1, in deg:

[0228]

[0229] If |Angle_P1-90|>10, then the parking space is an angled parking space;

[0230] If Dis P0P1 ≤Dis P1P3 Then the parking space is a perpendicular parking space;

[0231] If Dis P0P1 >Dis P1P3 If so, the parking space is a parallel parking space.

[0232] Step S703: Based on the vehicle information, calculate the angle between the vehicle's heading angle and the line connecting the parking space, and eliminate parking spaces with excessively large angles.

[0233] This application embodiment can calculate the angle θ between the vehicle's heading angle and the line connecting the lane heading of the parking space, and remove parking spaces with excessively large angles. The calculation method is as follows, and the angle unit in the calculation is deg:

[0234] The vehicle's heading angle is the angle θ between the vehicle's heading angle and the heading angle of the lane where the parking space is located; the vehicle's real-time heading angle. The vehicle heading angle at time i can be expressed by the following relationship:

[0235]

[0236] Based on the above formula, this application embodiment can select at least one first parking space with an actual included angle smaller than a preset included angle.

[0237] For example, if the parking space attribute is a spatial parking space, the preset angle for the parking space rejection condition can be: θ>10; if the parking space attribute is a marked parking space, the preset angle for the parking space rejection condition can be: θ>15.

[0238] Step S704: Based on the information of the remaining parking spaces and surrounding ultrasonic line segments, calculate the parking space information outside each parking space, and eliminate available parking spaces with insufficient parking space. This embodiment of the application can, based on the first selected available parking spaces, perform a second selection of available parking spaces. Specifically, as follows... Figure 3 As shown in the embodiment of this application, the parking space information outside each parking space can be calculated, and parking spaces with insufficient parking space outside the parking space can be eliminated. The calculation method is as follows:

[0239] First, such as Figure 3 As shown, in this embodiment of the application, the origin can be parking space P0. The positive x-axis represents the direction of travel of the lane where the parking space is located. The x-axis is in the positive direction, and P2 y If the value is less than 0, perform a coordinate transformation.

[0240] The coordinate transformation process can be as follows:

[0241] In this embodiment, the original coordinates can be assumed to be (x, y), and the transformed coordinates can be (x, y). tran ,y tran ).

[0242]

[0243]

[0244]

[0245] The embodiments of this application can convert the coordinates of parking spot and vehicle outline point to obtain P0_tran, P1_tran, Veh1_tran, Veh2_tran, Veh3_tran, and Veh4_tran.

[0246] Uplimit = Min(Veh1_tran) y ,Veh2_tran y ,Veh3_tran y ,Veh4_tran y ),

[0247] HighMax = Max(Veh1_tran) y ,Veh2_tran y ,Veh3_trany ,Veh4_tran y ),

[0248] The parking space can be removed in this application embodiment when one of the following conditions is met:

[0249] If the currently calculated available parking space is a marked parking space, Uplimit ≤ 0; if the currently calculated available parking space is a vacant parking space, Uplimit ≤ 50.

[0250] Secondly, the embodiments of this application can determine the computation region. It is understood that the computation region is a quadrilateral, and the four vertices of the upper computation region can be as follows:

[0251] {AboveAreaP1 x AboveAreaP1 y}={P0_tran x 710},

[0252] {AboveAreaP2 x AboveAreaP2 y}={P1_tran x +400 710},

[0253] {AboveAreaP3 x AboveAreaP3 y}={P0_tran x Uplimit},

[0254] {AboveAreaP4 x AboveAreaP4 y}={P1_tran x +400 Uplimit},

[0255] Initialize the available area above:

[0256] AboveRemian = 710 - Uplimit

[0257] The four vertices of the computation region below are as follows:

[0258] {BlowAreaP1 x BlowAreaP1 y}={P0_tran x Uplimit},

[0259] {BlowAreaP2 x BlowAreaP2 y}={P0_tranx +100 Uplimit},

[0260] {BlowAreaP3 x BlowAreaP3 y}={P0_tran x P0_tran y -100},

[0261] {BlowAreaP4 x BlowAreaP4 y}={P0_tran x +100 P0_tran y -100},

[0262] Initialize the available area below:

[0263] BlowRemian = Uplimit.

[0264] Finally, as Figure 4 As shown, in this embodiment of the application, coordinate transformation can be performed on each ultrasonic line segment, and the portion of the ultrasonic line segment within the upper calculation area is taken as the upper effective ultrasonic line segment, and the portion of the ultrasonic line segment within the lower calculation area is taken as the lower effective ultrasonic line segment.

[0265] In this embodiment, the available area above can be updated based on the effective ultrasonic line segment above:

[0266] AboveRemian=Min(AboveRemian,Min(Cluster1 y Cluster2 y In this application embodiment, the available area above can be updated based on the effective ultrasonic line segment below:

[0267] BlowRemian=Min(BlowRemian,Uplimit-Max(Cluster1 y Cluster2 y )),

[0268] The parking space can be excluded under any of the following circumstances:

[0269] AboveRemian-HighMax < 80;

[0270] BlowRemian < 50.

[0271] It should be noted that if a currently calculated available parking space is removed during the calculation process, this embodiment of the application can repeat the calculation process to calculate new available parking spaces.

[0272] Step S705: Determine the length and width information of the remaining parking spaces and eliminate unsuitable parking spaces. This embodiment of the application can calculate the length and width information of each parking space and eliminate spaces that are insufficient in length and width. The calculation process is as follows:

[0273] First, in this embodiment of the application, the length and width of the parking space can be obtained by calculating the lengths of P0P1 and P0P2:

[0274]

[0275]

[0276] Length = Max(Dist) P0P2 Dist P0P1 ),

[0277] Width = Min(Dist) P0P2 Dist P0P1 ).

[0278] If the currently calculated available parking space is a marked parking space, then the following determination can be made in this embodiment of the application:

[0279] If the parking space type is parallel parking space and one of the following conditions is met, the currently calculated available parking spaces can be removed:

[0280] Width < 180,

[0281] Width>300,

[0282] Length<480,

[0283] Length > 640;

[0284] If a parking space is a perpendicular or angled parking space, and meets one of the following conditions, the currently calculated available parking spaces can be removed:

[0285] Width<200,

[0286] Width>330,

[0287] Length < 480.

[0288] If the currently calculated available parking space is a space parking space, then the following determination can be made in this embodiment of the application:

[0289] If the parking space type is parallel parking space and one of the following conditions is met, the currently calculated available parking spaces can be removed:

[0290] Width < 160,

[0291] Length < 500;

[0292] If a parking space is a perpendicular or angled parking space, and meets one of the following conditions, the currently calculated available parking spaces can be removed:

[0293] Width < 210,

[0294] Length < 300.

[0295] It should be noted that if a currently calculated available parking space is removed during the calculation process, this embodiment of the application can repeat the calculation process to calculate new available parking spaces.

[0296] Step S706: Based on the ultrasonic line segment information of the remaining parking spaces and their surroundings, calculate the available parking space within each parking space, and eliminate parking spaces with insufficient remaining width. The remaining parking spaces are the usable parking spaces. In this embodiment, the available parking space within a parking space can be calculated based on the ultrasonic line segment information surrounding the available parking space, eliminating parking spaces with insufficient remaining width. The calculation process is as follows:

[0297] First, such as Figure 3 As shown, in this embodiment of the application, the origin is parking space P0, and the direction of travel of the lane where the parking space is located is... The x-axis is in the positive direction, and P2 y If the coordinates are less than 0, perform a coordinate transformation to obtain P0_tran and P1_tran from the coordinates of the parking position and the vehicle contour point. tran P2 tran P3 tran .

[0298] Secondly, the embodiments of this application can determine the computation region, which is a quadrilateral, and the four vertices of the computation region can be as follows:

[0299] {AreaP1 x AreaP1 y}={P0_tran x -100 100},

[0300] {AreaP2 x AreaP2 y}={P1_tran x +100 100},

[0301] If the currently calculated available parking space is a perpendicular or angled parking space:

[0302]

[0303]

[0304]

[0305]

[0306] If the currently calculated available parking space is a parallel parking space:

[0307]

[0308]

[0309]

[0310]

[0311] Further calculation of the region's center parameters:

[0312]

[0313]

[0314]

[0315] Initialize the remaining space on the left and right:

[0316] LeftRemain = 1000,

[0317] RightRemain = 1000

[0318] Calculate the inner half width of the parking space:

[0319]

[0320] Finally, as Figure 5 As shown, in this embodiment of the application, coordinate transformation can be performed on each ultrasonic line segment, and the portion of the ultrasonic line segment within the calculation area is taken as the effective ultrasonic line segment. The effective ultrasonic line segment is used to determine whether the space inside the parking space needs to be deleted.

[0321] When the ultrasonic line segment crosses the center of the calculated area, the following criteria can be used for judgment:

[0322] (ParaA·Cluster1 x +ParaB·Cluster1 y +ParaC)·(ParaA·Cluster2 x +ParaB·

[0323] Cluster2y+ParaC≤0.

[0324] This application embodiment can further update the remaining space on the left and right sides:

[0325] If the effective ultrasound line segment is to the left of the midline, the judgment can be made as follows:

[0326] (ParaA·Cluster1 x +ParaB·Cluster1 y +ParaC)·(paraA·AreaP1 x +ParaB·

[0327] AreaP1 y +ParaC)>0,

[0328] This application embodiment can further update the remaining space on the left:

[0329]

[0330] If the effective ultrasound line segment is to the right of the midline, the judgment can be made as follows:

[0331] (ParaA·Cluster1 x +ParaB·Cluster1 y +ParaC)·(ParaA·AreaP2 x +ParaB·

[0332] AreaP2y+ParaC>0,

[0333] This application embodiment can further update the remaining space on the left:

[0334]

[0335] If the parking space type is parallel parking space and one of the following conditions is met, the currently calculated available parking spaces can be removed:

[0336] RightRemain + LeftRemain < 500

[0337] RightRemain+HalfWidth<500

[0338] LeftRemain+HalfWidth<480;

[0339] If the parking space type is perpendicular parking space, and one of the following conditions is met, the currently calculated available parking spaces can be removed:

[0340] RightRemain + LeftRemain < 210,

[0341] RightRemain+HalfWidth<210,

[0342] LeftRemain+HalfWidth<210.

[0343] It should be noted that if a currently calculated available parking space is removed during the calculation process, this embodiment of the application can repeat the calculation process to calculate new available parking spaces.

[0344] This application embodiment selects the best available parking space through step-by-step screening, thereby effectively reducing the risk of parking failure of the automatic parking system. Based on ultrasonic line segment calculation, it calculates the available space inside and outside the parking space, effectively preventing the risk of the automatic parking system getting stuck during parking, and achieving efficient and smooth automatic parking.

[0345] The automatic parking method for vehicles proposed in this application can determine whether each available parking space meets preset availability conditions based on parking space information and vehicle parking information, thereby selecting the optimal parking space and realizing automatic parking. Based on the calculation results, the availability of available parking spaces is further filtered. The selected parking spaces can effectively reduce the risk of parking failure in the automatic parking system and effectively prevent the risk of the automatic parking system getting stuck during parking. Therefore, this solves the problems in related technologies where the accuracy and reliability of parking space determination are low, the determination range is limited to the space within the parking space, and only to a single parking space, reducing the intelligence of parking and resulting in a poor parking experience.

[0346] Next, referring to the accompanying drawings, an automatic parking device for a vehicle according to an embodiment of this application is described.

[0347] Figure 8 This is a block diagram of an automatic parking device for a vehicle according to an embodiment of this application.

[0348] like Figure 8 As shown, the automatic parking device 10 of the vehicle includes: an acquisition module 100, a judgment module 200, and a control module 300.

[0349] Specifically, module 100 is used to obtain parking information for multiple available parking spaces.

[0350] The judgment module 200 is used to filter out parking spaces that are not eligible for parking, based on the parking space information and vehicle parking information of each available parking space, and those that are not eligible for parking, or whose external parking space information does not meet the preset external space conditions, or whose internal parking space information does not meet the preset internal space conditions.

[0351] The control module 300 is used to determine the optimal parking space for the vehicle from the remaining available parking spaces and control the vehicle to perform parking actions according to the optimal parking space.

[0352] Optionally, in one embodiment of this application, the acquisition module 100 includes an acquisition unit and a generation unit.

[0353] The acquisition unit is used to collect the parking space attributes and location coordinates of each available parking space, and / or detect the surrounding obstacles of each available parking space.

[0354] The generation unit is used to generate parking space information for each available parking space based on parking space attributes, location coordinate information, and / or surrounding obstacle information.

[0355] Optionally, in one embodiment of this application, the judgment module 200 includes: a first filtering unit, a second filtering unit, a third filtering unit, an identification unit, and a calculation unit.

[0356] The first filtering unit is used to calculate the actual angle between each available parking space and the vehicle based on the parking space information of each available parking space, the current heading angle of the vehicle and the heading angle of the previous moment, and filter out at least one first available parking space whose actual angle is less than a preset angle.

[0357] The second filtering unit is used to identify the parking space information outside each parking space based on the preset coordinate system and parking space information obtained from the parking space information of each parking space, and to filter out at least one second parking space from at least one first parking space whose parking space information outside the parking space meets the preset external space conditions.

[0358] The third filtering unit is used to filter at least one third available parking space from at least one second available parking space that meets the parking conditions obtained from the parking space information.

[0359] The identification unit is used to identify the parking space information within each third available parking space based on the parking space information of each available parking space.

[0360] The calculation unit is used to filter out at least one third available parking space that meets the preset internal space conditions based on the parking space information of each third available parking space, so as to obtain the remaining available parking spaces.

[0361] Optionally, in one embodiment of this application, the control module includes a determining unit.

[0362] The determining unit is used to determine the optimal parking space based on the parking space information within each of the remaining available parking spaces, the driving distance between each of the remaining available parking spaces and the vehicle, and / or the actual category and corresponding weight of each of the remaining available parking spaces.

[0363] Optionally, in one embodiment of this application, the automatic parking device 10 for the vehicle further includes a reminder module.

[0364] The reminder module is used to send a manual operation reminder to the user when all available parking spaces do not meet the preset availability conditions.

[0365] It should be noted that the foregoing explanation of the automatic parking method embodiment also applies to the automatic parking device of the vehicle in this embodiment, and will not be repeated here.

[0366] The automatic parking device for vehicles proposed in this application can determine whether each available parking space meets preset availability conditions based on parking space information and vehicle parking information, thereby selecting the optimal parking space and realizing automatic parking. Based on the calculation results, the availability of available parking spaces is further filtered. The selected parking spaces can effectively reduce the risk of parking failure in the automatic parking system and effectively prevent the risk of the automatic parking system getting stuck during parking. Therefore, it solves the problems in related technologies where the accuracy and reliability of parking space determination are low, the determination range is limited to the space within the parking space, and only to a single parking space, reducing the intelligence of parking and resulting in a poor parking experience.

[0367] Figure 9 A schematic diagram of the structure of a vehicle provided in an embodiment of this application. The vehicle may include:

[0368] The memory 901, the processor 902, and the computer program stored on the memory 901 and capable of running on the processor 902.

[0369] When the processor 902 executes the program, it implements the automatic parking method for vehicles provided in the above embodiments.

[0370] Furthermore, the vehicle also includes:

[0371] Communication interface 903 is used for communication between memory 901 and processor 902.

[0372] The memory 901 is used to store computer programs that can run on the processor 902.

[0373] The memory 901 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0374] If the memory 901, processor 902, and communication interface 903 are implemented independently, then the communication interface 903, memory 901, and processor 902 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 9 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0375] Optionally, in a specific implementation, if the memory 901, processor 902, and communication interface 903 are integrated on a single chip, then the memory 901, processor 902, and communication interface 903 can communicate with each other through an internal interface.

[0376] The processor 902 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0377] This embodiment also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described automatic parking method for a vehicle.

[0378] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0379] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0380] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0381] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0382] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0383] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0384] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0385] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. An automatic parking method for a vehicle, characterized in that, Includes the following steps: Obtain parking space information for multiple available parking spaces; Based on the parking information of each available parking space and the parking information of the vehicle, parking spaces that are filtered out include those whose actual angle between the available parking space and the vehicle is greater than or equal to a preset angle, whose external parking space information does not meet the preset external space conditions, and whose internal parking space information does not meet the preset internal space conditions. as well as Determine the optimal parking space for the vehicle from the remaining available parking spaces, and control the vehicle to perform a parking action according to the optimal parking space; The step of filtering out available parking spaces based on the parking space information and vehicle parking information of each available parking space includes: removing spaces where the actual angle between the available parking space and the vehicle is greater than or equal to a preset angle; removing spaces where the external parking space information does not meet preset external space conditions; and removing spaces where the internal parking space information does not meet preset internal space conditions. Based on the parking space information of each available parking space, the actual angle between each available parking space and the vehicle is calculated according to the current heading angle of the vehicle and the heading angle at the previous moment, and at least one first available parking space with the actual angle less than a preset angle is selected. Based on the parking space information of each available parking space, a preset coordinate system is obtained and the parking space information is obtained. The parking space information outside each available parking space is identified, and at least one second available parking space that meets the preset external space conditions is selected from the at least one first available parking space. From the at least one second available parking space, at least one third available parking space that meets the parking conditions obtained from the parking space information is selected; Based on the parking space information of each available parking space, identify the parking space information within each third available parking space; Based on the parking space information within each third available parking space, at least one third available parking space that meets the preset internal space conditions is selected to obtain the remaining available parking spaces.

2. The method according to claim 1, characterized in that, The process of obtaining parking space information for multiple available parking spaces includes: Collect the parking space attributes and location coordinates of each available parking space; And / or, detect surrounding obstacle information for each available parking space; The parking space information for each available parking space is generated based on the parking space attributes, the location coordinate information, and / or the surrounding obstacle information.

3. The method according to claim 1, characterized in that, Determining the optimal parking space for the vehicle from the remaining available parking spaces includes: The optimal parking space is determined based on the parking space information within each of the remaining available parking spaces, the driving distance between each of the remaining available parking spaces and the vehicle, and / or the actual category and corresponding weight of each of the remaining available parking spaces.

4. The method according to any one of claims 1-3, characterized in that, After filtering out available parking spaces that do not meet the preset availability criteria, the process also includes: When all of the multiple available parking spaces do not meet the preset availability conditions, a manual operation reminder is sent to the user.

5. An automatic parking device for a vehicle, characterized in that, include: The acquisition module is used to acquire parking space information for multiple available parking spaces; The judgment module is used to filter out parking spaces that are not allowed to park, based on the parking space information and vehicle parking information of each available parking space, and those that are not allowed to park, or whose actual angle between the available parking space and the vehicle is greater than or equal to a preset angle, whose external parking space information does not meet preset external space conditions, or whose internal parking space information does not meet preset internal space conditions. as well as The control module is used to determine the optimal parking space for the vehicle from the remaining available parking spaces and control the vehicle to perform a parking action according to the optimal parking space. The judgment module includes: The first filtering unit is used to calculate the actual angle between each available parking space and the vehicle based on the parking space information of each available parking space, according to the current heading angle of the vehicle and the heading angle at the previous moment, and to filter out at least one first available parking space whose actual angle is less than a preset angle. The second filtering unit is used to identify the parking space information outside each parking space based on the preset coordinate system obtained from the parking space information of each parking space and the parking space information, and to filter out at least one second parking space from the at least one first parking space whose parking space information outside the parking space meets the preset external space conditions. The third filtering unit is used to filter out at least one third parking space that meets the parking conditions obtained from the parking space information from the at least one second parking space. The identification unit is used to identify the parking space information within each third available parking space based on the parking space information of each available parking space. The calculation unit is used to filter out at least one third available parking space that meets the preset internal space conditions based on the parking space information of each third available parking space, so as to obtain the remaining available parking spaces.

6. The apparatus according to claim 5, characterized in that, The acquisition module includes: The acquisition unit is used to collect the parking space attributes and location coordinate information of each available parking space, and / or detect the surrounding obstacle information of each available parking space; The generation unit is used to generate parking space information for each available parking space based on the parking space attributes, the location coordinate information, and / or the surrounding obstacle information.

7. The apparatus according to claim 5, characterized in that, The control module includes: The determining unit is configured to determine the optimal parking space based on the parking space information within each of the remaining available parking spaces, the driving distance between each of the remaining available parking spaces and the vehicle, and / or the actual category and corresponding weight of each of the remaining available parking spaces.

8. The apparatus according to any one of claims 5-7, characterized in that, Also includes: The reminder module is used to send a manual operation reminder to the user when all of the multiple available parking spaces do not meet the preset availability conditions.

9. A vehicle, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the automatic parking method for a vehicle as described in any one of claims 1-4.

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

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