A parking pose control method and system

Abstract

The application discloses a parking pose control method and system, the parking pose control method comprises the following steps: an automatic driving sensor acquires vehicle surrounding environment information and sends the vehicle surrounding environment information to an automatic driving controller, the vehicle surrounding environment information comprises target parking space information and obstacles; an OMS sensor acquires passenger image information and sends the passenger image information to an OMS controller, the OMS controller acquires passenger cabin distribution information based on the passenger image information, and sends the passenger cabin distribution information to the automatic driving controller; the automatic driving controller generates a parking route of a target parking pose based on the vehicle surrounding environment information and the distribution information, and the parking route is used to make the automatic driving controller control the vehicle to complete the target parking pose for facilitating getting off. The application improves the user parking experience and the accuracy of the parking pose in the unmanned driving and high-level driving environment.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of parking control, in particular to a parking pose control method and system. BACKGROUND

[0002] With the development of automobile technology, unmanned vehicles have been applied in closed parks. The main application mode is to set a specific parking space for the unmanned vehicle, i.e., a specific pickup and drop-off location. The unmanned vehicle completes the transportation work at the set pickup and drop-off location. Generally, the target pose of the unmanned vehicle is controlled to be centered on the parking line. The scenario that there are passengers in the vehicle and there are close temporary vehicles on both sides of the parking space is not considered. That is, the current parking pose control method only targets to park in the center of the parking space based on external information such as the parking space and the surrounding environment, without considering the distribution of personnel in the vehicle. When the target parking space is relatively empty on both sides, this strategy is not a problem, but once there are obstacles on one or both sides of the parking space, although the vehicle can be parked in the parking space, it is not conducive to the pickup and drop-off of passengers on the vehicle, especially for this scenario of short shuttle vehicles. After the personnel get off the vehicle, the vehicle needs to perform the next stage of the task and will not stay in the parking space for a long time. Therefore, the short-term non-central parking is consistent with the use scenario.

[0003] Since the prior art cannot consider the convenience of passenger pickup and drop-off, lacks humanized design, and once it is applied in more complex parking scenarios other than closed parks, it will produce poor parking experience and is not suitable for more parking scenarios.

[0004] Therefore, the prior art still needs to be further developed. SUMMARY

[0005] In order to solve the problem of poor parking experience in the prior art, the inability to consider the convenience of passenger pickup and drop-off, and the lack of humanized design, the present application proposes a parking pose control method and system, which improves the user's parking experience and the accuracy of the parking pose in the unmanned driving and high-level driving environment.

[0006] In a first aspect, the present application provides a parking pose control method, comprising:

[0007] An automatic driving sensor acquires vehicle surrounding environment information and sends it to an automatic driving controller. The vehicle surrounding environment information includes target parking space information and obstacles;

[0008] An OMS sensor acquires passenger image information and sends it to an OMS controller. The OMS controller acquires distribution information of passengers in the cabin based on the passenger image information and sends the distribution information to the automatic driving controller;

[0009] The automatic driving controller generates a parking route of the target parking pose based on the vehicle surrounding environment information and the distribution information, and the parking route is used to control the vehicle to complete the target parking pose for facilitating getting off.

[0010] Optionally, the target parking pose includes a centered parking, a biased parking, and a temporary parking.

[0011] Optionally, the automatic driving controller generates the parking route based on the vehicle surrounding environment information and the distribution information, and the method comprises:

[0012] identifying target parking space information;

[0013] determining whether a passenger side door opening point of the vehicle after centered parking is less than a first preset distance from an obstacle, the first preset distance being determined by a maximum space required for the passenger to open the door and get on or off the vehicle;

[0014] if not, the vehicle is parked in a centered manner.

[0015] Optionally, the determination of whether the passenger side door opening point of the vehicle after centered parking is less than the first preset distance from the obstacle further comprises:

[0016] if yes, a first preset distance is reserved between the passenger side door opening point of the target parking pose and the obstacle, and it is determined whether a passenger side door opening point of the target parking pose is less than a second preset distance from the obstacles on both sides, the second preset distance being determined by a positioning error of the automatic driving sensor to ensure that there is no mutual interference between the vehicle and the obstacle in the case of the maximum positioning error;

[0017] if not, the vehicle is parked according to a preset biased distance between the vehicle and the obstacle.

[0018] Optionally, the determination of whether the passenger side door opening point of the target parking pose is less than the second preset distance from the obstacles on both sides if yes further comprises:

[0019] if yes, it is determined whether a parking time of the vehicle is less than a maximum parking time, the maximum parking time being obtained based on a maximum temporary parking time of the parking area;

[0020] if yes, the vehicle is parked in a temporary manner, and the temporary parking comprises parking the vehicle in a region in front of the parking space.

[0021] Optionally, the determination of whether the parking time of the vehicle is less than the maximum parking time if yes further comprises:

[0022] If the parking time of the vehicle is not less than the maximum parking time, find other parking spaces.

[0023] Optionally, the temporary parking includes:

[0024] The automatic driving controller controls the steering system, the power system and the control system to temporarily park the vehicle in the area in front of the parking space.

[0025] In a second aspect, the application provides a parking pose control system, comprising:

[0026] An environment acquisition unit, configured to at least cause an automatic driving sensor to acquire vehicle surrounding environment information and send the vehicle surrounding environment information to an automatic driving controller, the vehicle surrounding environment information including target parking space information and obstacles;

[0027] An OMS controller, configured to at least acquire passenger image information by using an OMS sensor, acquire distribution information of passengers in a cabin based on the passenger image information, and send the distribution information to the automatic driving controller;

[0028] The automatic driving controller, configured to at least generate a parking route based on the vehicle surrounding environment information and the distribution information, the parking route being used to control the vehicle to complete a target parking pose facilitating getting off.

[0029] Optionally, the automatic driving controller includes an execution unit, the execution unit being configured to:

[0030] Identify the target parking space information;

[0031] Determine whether a passenger side door opening distance from the obstacle after the vehicle is parked in the center is less than a first preset distance, the first preset distance being calibrated by a maximum space required for passengers to open the door and get on and off;

[0032] If the passenger side door opening distance from the obstacle is not less than the first preset distance, park the vehicle in the center;

[0033] If the passenger side door opening distance from the obstacle is less than the first preset distance, keep a first preset distance between a passenger side door opening point of the target parking pose and the obstacle, and determine whether a distance between the passenger side door opening point of the target parking pose and obstacles on both sides is less than a second preset distance, the second preset distance being determined by a positioning error of the automatic driving sensor, so as to ensure that there is no mutual interference between the vehicle and the obstacles in the case of the maximum positioning error;

[0034] If the distance between the passenger side door opening point of the target parking pose and the obstacles on both sides is not less than the second preset distance, park the vehicle according to a preset bias distance from the obstacles;

[0035] If the distance between the passenger side door opening point of the target parking pose and the obstacles on both sides is less than the second preset distance, determine whether a parking time of the vehicle is less than a maximum parking time, the maximum parking time being obtained based on a maximum temporary parking time of a parking area;

[0036] If the parking time of the vehicle is less than the maximum parking time, the vehicle is temporarily parked;

[0037] If the parking time of the vehicle is not less than the maximum parking time, other parking spaces are searched.

[0038] Optionally, the execution unit is further configured to:

[0039] The steering system, the power system and the control system are controlled to temporarily park the vehicle in the area in front of the parking space.

[0040] In a third aspect, the present application provides an electronic device, comprising:

[0041] at least one processor; and at least one memory connected with the processor and configured to store program instructions executable by the processor, wherein the processor invokes the program instructions to execute the method according to the first aspect.

[0042] In a fourth aspect, the present application provides a computer readable storage medium, which stores a computer program, wherein the computer program is executed by a computer to execute the method according to the first aspect.

[0043] The present application sets the first preset distance, the second preset distance, the third preset distance and the maximum parking time, adjusts the position preference of parking, adjusts the priority of the target parking position and the parking-in mode in levels, improves the parking safety of the unmanned vehicle or the high-level automatic driving vehicle, perfects the parking logic, takes into account the convenience of the passengers getting on and off the vehicle, and improves the user parking experience. BRIEF DESCRIPTION OF DRAWINGS

[0044] Figure 1 A flowchart of a parking pose control method in an embodiment of the present application is shown;

[0045] Figure 2 A flowchart of another parking pose control method in an embodiment of the present application is shown;

[0046] Figure 3 A schematic diagram of central parking in an embodiment of the present application is shown;

[0047] Figure 4 A schematic diagram of offset parking in an embodiment of the present application is shown;

[0048] Figure 5 A schematic diagram of temporary parking in an embodiment of the present application is shown;

[0049] Figure 6 A composition structure diagram of a parking pose control system in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0050] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0051] A common driving scenario in a self-driving vehicle includes point-to-point self-driving, which generally needs high-precision maps and positioning, combined with vehicle-side sensing and control capabilities, so that the vehicle can automatically control the vehicle to cruise to the destination (generally a target parking space) according to the map route, and then automatically park in the parking space. The whole process can not need manual control.

[0052] Currently, many L4 automatic driving companies have realized point-to-point self-driving, but mainly for B-end users, and are running in a closed park, such as unmanned short shuttle buses for pick-up and drop-off.

[0053] Currently, the parking-in stage mainly uses automatic driving sensors to identify the parking space, obstacles and surrounding environment, and then the automatic driving controller plans the parking-in route and controls the power, steering and braking systems of the vehicle to park in the parking space.

[0054] Please refer to Figures 1-5 In a first aspect of the present application, a parking pose control method for a self-driving vehicle is provided, comprising:

[0055] Step S1: An automatic driving sensor acquires vehicle surrounding environment information and sends it to an automatic driving controller, wherein the vehicle surrounding environment information includes target parking space information and obstacles.

[0056] Specifically, the automatic driving sensor is a general term for sensors on the vehicle to perceive the vehicle surrounding environment information. The vehicle surrounding environment information specifically includes target parking space information, obstacle information and other environment information, such as weather information. The information of the parking space to be parked in can be obtained through the target parking space information, such as the lane line information of the target parking space, whether the parking space is an open parking space, etc. The specific position of the parking space is considered through the obstacle information. In the case of a large obstacle, sometimes the center parking pose control method is not suitable for the current parking demand. Weather information, etc. can also be considered as a parking factor. When the weather is bad, such as thunderstorm, snowstorm, etc., whether the parking pose is reasonable can also be considered, because sometimes bad weather may have hidden dangers for the situation after parking, such as considering whether to park in a non-open parking space, etc.

[0057] The automatic driving controller, also referred to as an automatic driving domain controller, is a computing hardware platform for intelligent driving. It can integrate the processing, fusion and control strategy development of the vehicle surrounding information of intelligent driving sensors into a hardware platform, and realize the whole process of automatic driving perception fusion, planning decision and control. It should be understood that the whole process of perception fusion, planning decision and control of the automatic driving controller is prior art, and will not be described here.

[0058] Step S2: The OMS sensor acquires passenger image information and sends the passenger image information to the OMS controller. The OMS controller acquires the distribution information of passengers in the cabin based on the passenger image information, and sends the distribution information to the automatic driving controller.

[0059] Specifically, the camera or TOF (Time of Flight) camera transmits image / point cloud information and passenger image information to the OMS (Occupancy Monitoring System) sensor. The OMS sensor acquires passenger image information and sends the passenger image information to the OMS controller.

[0060] In addition, the camera or TOF (Time of Flight) camera transmits image / point cloud information and passenger image information to the OMS (Occupancy Monitoring System) sensor. The OMS sensor acquires passenger image information and sends the passenger image information to the OMS controller. In addition to the OMS controller or the automatic driving controller, the OMS controller or the automatic driving controller can also use an occupancy sensor, a top monitor and a millimeter wave radar to acquire passenger image information to realize the distribution recognition of the passengers in the vehicle and other functions.

[0061] The OMS controller can process and recognize the passenger cabin distribution information from the passenger image information by using existing AI algorithms, and send the passenger cabin distribution information to the automatic driving controller.

[0062] The distribution information of passengers in the cabin includes the position of the passengers, the body posture of the passengers, and the basic age of the passengers, etc.

[0063] Step S3: The automatic driving controller generates a parking route based on the vehicle surrounding environment information and the distribution information. The parking route is used to control the vehicle to complete the target parking pose for easy getting off by the automatic driving controller.

[0064] Specifically, the automatic driving controller is a computing hardware platform for intelligent driving, which can integrate intelligent driving sensor data processing and sensor fusion work and control strategy development into a hardware platform, realizing the whole process of automatic driving perception fusion, planning and decision making, and control. Therefore, the parking route can be understood as being directly obtained according to the existing automatic driving controller technology, and the specific content of the parking route includes but is not limited to the path of the vehicle from the starting point to the feasible starting area and the path of the vehicle from the feasible starting area to the parking end point, mainly including three types of straight lines, circular arcs and curves.

[0065] In addition, the automatic driving controller can control the vehicle parking through the instruction input to the steering system, the power system and the braking system.

[0066] In an embodiment of the present application, the target parking pose includes centered parking, offset parking and temporary parking, and the parking route is planned based on the corresponding parking pose.

[0067] Specifically, the parking pose specifically includes the position and the orientation of the vehicle. The position represents the position information of the vehicle, that is, the coordinate point in the three-dimensional world, usually represented by x, y and z; the orientation represents the orientation information of the vehicle, which can be represented by Euler angles, quaternions or attitude matrix. In the present application, the parking-in situation of the vehicle is mainly considered, wherein the parking pose is controlled by the automatic driving controller. The centered parking indicates that the target parking pose of the vehicle is set based on the lane line; the offset parking indicates that the target parking pose of the vehicle is not set as the center line of the vehicle parking; the temporary parking considers the parking time on the basis of the centered parking and the offset parking to improve the parking efficiency and user experience. The analysis of the specific target parking pose is described in detail below.

[0068] In an embodiment of the present application, the automatic driving controller generates the parking route based on the vehicle surrounding environment information and the distribution information, including:

[0069] As shown in Figure 3 (1), the target parking space information is identified; it is judged whether the passenger side door opening point after the vehicle is parked in the center is less than a first preset distance after the vehicle is parked in the center, and the first preset distance is calibrated by the maximum space required for the passenger to open the door and get on and off the vehicle; if it is not less than the first preset distance, the vehicle is parked in the center.

[0070] Or as shown in Figure 3 (2) or Figure 3(3) as shown, the target parking space information, obstacle information and passenger side information are identified, the position of the obstacle is determined, if the position of the obstacle is at the side door of the parking space to be parked, it is determined whether the distance between the obstacle and the closed state of the vehicle door after the vehicle is parked in the center is greater than or equal to the second preset distance b, if the position of the obstacle is greater than or equal to the second preset distance b, the vehicle is parked in the center, and only the door at the non-obstacle position is opened after parking. It should be understood that the position of the obstacle at the side door of the parking space to be parked includes the left side or the right side of the door of the parking space to be parked. The door of the parking space to be parked is only a general term, and the specific range of the obstacle can be divided according to the actual position threshold.

[0071] In order to distinguish the position of the obstacle at the front of the vehicle to be parked, as shown in (4) - (6), Figure 3 (4) - (6) as shown, the target parking space information, obstacle information and passenger side information are identified, the position of the obstacle is determined, if the position of the obstacle is at the front of the parking space to be parked, it is determined whether the distance between the obstacle and the closed state of the vehicle door after the vehicle is parked in the center is greater than or equal to the second preset distance b, if the position of the obstacle is greater than or equal to the second preset distance b, the vehicle is parked in the center, and the left door, the right door or both doors can be opened. It should be understood that the position of the obstacle at the front of the parking space to be parked includes the left side or the right side of the door of the parking space to be parked. The door of the parking space to be parked is only a general term, and the specific range of the obstacle can be divided according to the actual position threshold.

[0072] Specifically, as described above, the target parking space information is included in the vehicle surrounding environment information, and the target parking space information can be obtained by identifying the target parking space information, such as the parking critical value.

[0073] Specifically, the passenger side door opening point of the target parking pose represents the outermost point of the door when the passenger side door is opened. Depending on the type of passenger and the selected opening angle, the distance between the passenger side door opening point and the obstacle can be changed.

[0074] Specifically, the obstacle is a general term for objects that have an obstacle effect when parking, such as adjacent parking spaces and other tangible objects.

[0075] If there are passengers on both sides of the vehicle, the passenger side door opening point can be set as the first passenger side door opening point and the second passenger side door opening point according to the actual situation, or only the passenger side door opening point is set, and the passenger changes the position of the door out of the vehicle in the vehicle.

[0076] Specifically, the first preset distance can be set according to the actual situation of the parking space and the vehicle, that is, the maximum space required for the passenger to open the door to get on and off the vehicle, for example, 0.5 meters can be set as the first preset distance. Let the first preset distance be a, which is 0.5 meters, and the distance between the passenger side door opening point of the vehicle after the vehicle is parked in the center and the obstacle is not less than a, that is, greater than or equal to a. In this case, the vehicle can be set according to the center parking in the target parking pose, and the automatic driving controller plans the corresponding parking route. In this case, it indicates that the vehicle still has a safe distance for the passenger to get off after parking in the center.

[0077] Please refer to Figure 4 (1) In an embodiment of the present application, the determination of whether the passenger side door opening point of the vehicle after the vehicle is parked in the center is less than the first preset distance from the obstacle also includes:

[0078] If it is less than the first preset distance, the passenger side door opening point of the target parking pose is kept at a first preset distance from the obstacle, and it is determined whether the distance between the passenger side door opening point of the target parking pose and the obstacles on both sides is less than a second preset distance. If it is not less than the second preset distance, the vehicle is parked at a preset offset distance from the obstacle. The second preset distance is determined by the positioning error of the automatic driving sensor to ensure that there is no mutual interference between the vehicle and the obstacle in the case of the maximum positioning error.

[0079] Specifically, since the condition for determination is the distance of the passenger side door opening point when parking in the center, reference can also be made to Figure 4 (2) In the case where the passenger side door opening point of the vehicle after the vehicle is parked in the center does not meet the first preset distance from the obstacle, the vehicle is moved to the passenger side door opening point to keep a first preset distance from the obstacle, and the distance from the obstacle at the non-passenger side door opening point will be squeezed to be smaller. Even in an extreme case, the parking of the vehicle can exceed the preset distance of the right side stop line to ensure the implementation of offset parking. The use scenarios of the preset distance of the right side stop line include scenarios allowed by traffic regulations and parking spaces in edge parking lots, even if the right side exceeds the stop line, it will not affect the parking of other vehicles.

[0080] Here, the second preset distance is set to ensure that the vehicle is moved to the passenger side door opening point to keep a first preset distance from the obstacle, and the distance from the obstacle at the non-passenger side door opening point is reduced, which still meets the safe parking requirements of the vehicle, so when it is determined that it is not less than the second preset distance, the vehicle is parked at a preset offset distance from the obstacle.

[0081] Further, the second preset distance is determined by a positioning error of the automatic driving sensor to ensure that there is no mutual interference between the vehicle and the obstacle in the case of the maximum positioning error. Specifically, in the unmanned vehicle or the high-level automatic driving vehicle, the requirement of the maximum positioning error is higher. For the positioning system of the automatic driving, in order to know where it is, the requirement is decimeter-level positioning accuracy on the highway, and the requirement is close to centimeter-level positioning accuracy on the urban road. For parking, the higher the requirement of the maximum positioning error is, and here, the maximum positioning error can be planned with centimeter-level positioning accuracy. The advantage of setting the maximum positioning error is to avoid the risk of scratching of the vehicle during parking. Although the safety distance such as the first preset distance and the second preset distance is set to be used for judgment, the case of the maximum positioning error also needs to be considered to obtain a more reasonable and stable parking state.

[0082] Here, the preset offset distance is related to the settings of the first preset distance and the second preset distance, that is, the first preset distance between the vehicle passenger side door opening point and the obstacle is a, and the distance between the non-passenger side door opening point of the vehicle and the obstacle is less than the second preset distance. Here, the second preset distance is b.

[0083] It can be understood that in one scenario, the judgment of whether the passenger side door opening point of the vehicle after being parked in the center is less than the first preset distance from the obstacle also includes:

[0084] If it is less than the first preset distance, the passenger side door opening point of the target parking pose is kept at a distance of the first preset distance from the obstacle, and it is judged whether the non-passenger side door opening point is less than the second preset distance from the non-passenger side obstacle. The second preset distance is determined by the positioning error of the automatic driving sensor to ensure that there is no mutual interference between the vehicle and the obstacle in the case of the maximum positioning error.

[0085] If it is not less than the second preset distance, it is parked according to the preset offset distance from the obstacle. At this time, the second preset distance b is less than the size of the first preset distance a.

[0086] Here, the position of the critical point is special, and the target parking pose can be set to preferentially satisfy the center parking and then satisfy the offset parking.

[0087] Please refer to Figure 5 If it is less than the first preset distance, the passenger side door opening point of the target parking pose is kept at a distance of the first preset distance from the obstacle, and it is judged whether the passenger side door opening point of the target parking pose is less than the second preset distance from the two side obstacles, and the judgment also includes:

[0088] If the distance is less than the second preset distance, it is determined whether the parking time of the vehicle is less than a preset parking time, the preset parking time being obtained based on a maximum temporary parking time of the parking area, and thus the preset parking time is also referred to as a maximum parking time.

[0089] If the distance is less than the preset parking time, the vehicle is temporarily parked.

[0090] In a case where the distance between the vehicle and the obstacles on both sides still does not satisfy the condition of being greater than or equal to the second preset distance, it is indicated that even if the vehicle is offset and parked, the safety of the vehicle cannot be ensured at this time. Therefore, a case of temporary parking is considered, that is, the preset parking time or the maximum parking time is set, for example, when the passenger does not choose to get off in the case of temporary parking, the vehicle can be temporarily parked, and the temporary parking state of the vehicle at this time is not parked in the parking space, but the vehicle is parked in the area in front of the parking space. In order to ensure that the passenger side door is not blocked, the distance between the passenger side door and the obstacle can be set as a third preset distance c.

[0091] In addition, since the vehicle is the main tool for the passenger to stop, the second preset distance is determined by the positioning error of the automatic driving sensor, so as to ensure that there is no mutual interference between the vehicle and the obstacle in the case of the maximum positioning error, which can also be expressed as that there is no mutual interference between the vehicle and the obstacle.

[0092] In an embodiment of the present application, if the distance is less than the second preset distance, it is determined whether the parking time of the vehicle is less than the maximum parking time, and the method further comprises:

[0093] If the parking time of the vehicle is not less than the maximum parking time, other parking spaces are searched.

[0094] Specifically, the maximum parking time is the parking time of the vehicle itself, which can be set according to the demand of the passenger; and the maximum parking time is obtained based on the maximum temporary parking time of the parking area.

[0095] In order to reduce the interference on other vehicles traveling or other vehicles parking, the maximum parking time of the vehicle is set as t to determine the feasibility of temporary parking of the vehicle. For example, the maximum parking time t is set as 2 minutes, if more than 2 minutes, the condition of temporary parking is not satisfied, and it can be considered to search for a target parking space again or not to park. In addition, the maximum parking time t can also take the maximum temporary parking time specified by the parking lot or parking area as a reference standard.

[0096] Specifically, the automatic driving controller controls the steering system, the power system and the control system to temporarily park the vehicle in the area in front of the parking space.

[0097] Hereby, by setting the first preset distance a, the second preset distance b, the third preset distance c and the maximum parking time t and the like parameters, the priority and the parking-in mode of the target parking position are hierarchically adjusted, the parking-in safety of the unmanned vehicle or the high-level automatic driving vehicle is improved, the parking logic is improved, and the user's better parking experience is improved.

[0098] Please refer to Figure 6 In a second aspect of the present application, a parking pose control system of an unmanned vehicle is provided, comprising:

[0099] An environment acquisition unit 21, configured to at least enable an automatic driving sensor to acquire vehicle surrounding environment information and send the vehicle surrounding environment information to an automatic driving controller, wherein the vehicle surrounding environment information comprises target parking space information and obstacles;

[0100] An OMS controller 22, configured to at least acquire passenger image information by using an OMS sensor, acquire distribution information of passengers in a cabin based on the passenger image information, and send the distribution information to the automatic driving controller;

[0101] An automatic driving controller 23, configured to at least generate a parking route based on the vehicle surrounding environment information and the distribution information, wherein the parking route is used to control the vehicle to complete a target parking pose facilitating getting off.

[0102] In an embodiment of the present application, the automatic driving controller 23 comprises an execution unit 231, configured to:

[0103] Identify the target parking space information;

[0104] Judge whether the distance between the passenger side door opening point and the obstacle after the vehicle is parked in the center is less than a first preset distance, wherein the first preset distance is calibrated based on the maximum space required for the passengers to get on and off the vehicle after opening the door;

[0105] If the distance is not less than the first preset distance, the vehicle is parked in the center;

[0106] If the distance is less than the first preset distance, a first preset distance is reserved between the passenger side door opening point and the obstacle, and it is judged whether the distance between the passenger side door opening point and the obstacles on both sides is less than a second preset distance, wherein the second preset distance is determined based on the positioning error of the automatic driving sensor, so as to ensure that there is no mutual interference between the vehicle and the obstacle in the case of the maximum positioning error;

[0107] If the distance is not less than the second preset distance, the vehicle is parked according to a preset offset distance from the obstacle;

[0108] If the distance is less than the second preset distance, it is judged whether the parking time of the vehicle is less than a maximum parking time, wherein the maximum parking time is obtained based on the maximum temporary parking time of the parking area;

[0109] If less than the maximum parking time, control the vehicle to temporarily park in;

[0110] If not less than the maximum parking time, find other parking spaces.

[0111] In an embodiment of the present application, the execution unit is further configured to control the steering system, the power system and the control system to temporarily park the vehicle in the area in front of the parking space.

[0112] In a third aspect, the present application provides an electronic device, comprising:

[0113] at least one processor; and at least one memory connected with the processor, wherein: the memory stores program instructions executable by the processor, and the processor invoking the program instructions can execute the method according to any of the above embodiments.

[0114] In a fourth aspect, the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a computer to execute the method according to any of the above embodiments.

[0115] It can be understood that the computer readable storage medium can include any entity or device capable of carrying the computer program, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), software distribution medium, etc. The computer program includes computer program code. The computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The computer readable storage medium can include any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), software distribution medium, etc.

[0116] In some embodiments of the present application, the device can comprise a controller, which is a single-chip microcontroller integrating a processor, a memory, a communication module, etc. The processor can refer to the processor included in the controller. The processor can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs) or other programmable logic devices, discrete gates or transistor logic, discrete hardware components, etc.

[0117] Any processes or methods described in the flow charts or elsewhere in this document can be understood as representing a module, segment, or portion of code that includes one or more executable instructions for implementing specific logical functions or steps in the process, and the various embodiments of the application can include additional or fewer steps performing the same or equivalent functions as those shown or discussed, in different orders, in different combinations, or omitted entirely, depending on the application of the application.

[0118] Those skilled in the art can understand that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be realized in electronic hardware, computer software or a combination of both. In order to clearly illustrate the interchangeability of hardware and software, the components and steps of the examples have been described in the above description in a general manner. Whether the functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. A skilled person can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0119] The above examples are only used to illustrate the technical solutions of the present application, and not to limit it; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that the technical solutions recorded in the foregoing examples can be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A parking pose control method characterized by, The automatic driving sensor obtains vehicle surrounding environment information including target parking space information and obstacles and sends the vehicle surrounding environment information to an automatic driving controller. The OMS sensor obtains passenger image information and sends the passenger image information to an OMS controller. The automatic driving controller generates a parking route of a target parking pose based on the vehicle surrounding environment information and the distribution information, and the parking route is used to control the vehicle to complete the target parking pose for facilitating getting off. The automatic driving controller generates a parking route based on the vehicle surrounding environment information and the distribution information, including: identifying target parking space information; judging whether the distance between the passenger side door opening point of the target parking pose and the obstacle is less than a first preset distance after the vehicle is parked in the center, the first preset distance being calibrated by the maximum space required for the passenger to open the door and get on and off the vehicle; if not, parking in the center; if less than the first preset distance, reserving the first preset distance between the passenger side door opening point of the target parking pose and the obstacle, and judging whether the distance between the passenger side door opening point of the target parking pose and the obstacles on both sides is less than a second preset distance, the second preset distance being determined by the positioning error of the automatic driving sensor to ensure that there is no mutual interference between the vehicle and the obstacle in the case of the maximum positioning error; if not, parking according to the preset bias distance between the vehicle and the obstacle. The target parking pose includes center parking, bias parking and temporary parking.

2. The parking pose control method according to claim 1, characterized by, if not, parking according to the preset bias distance between the vehicle and the obstacle.

3. The parking pose control method according to claim 1, characterized by, If less than the first preset distance, reserving the first preset distance between the passenger side door opening point of the target parking pose and the obstacle, and judging whether the distance between the passenger side door opening point of the target parking pose and the obstacles on both sides is less than a second preset distance, further including:

4. The parking pose control method according to claim 3, characterized by, if less than the second preset distance, judging whether the parking time of the vehicle is less than a maximum parking time, the maximum parking time being obtained based on the maximum temporary parking time of the parking area; if less than the maximum parking time, temporarily parking, the temporary parking including parking the vehicle in the area in front of the parking space. If less than the second preset distance, judging whether the parking time of the vehicle is less than a maximum parking time, further including:

5. The parking pose control method according to claim 4, characterized by, if the parking time of the vehicle is not less than the maximum parking time, finding other parking spaces. If less than the maximum parking time, temporarily parking, including:

6. The parking pose control method according to claim 5, characterized by, the automatic driving controller controls the steering system, the power system and the control system to temporarily park the vehicle in the area in front of the parking space. The environment acquisition unit is configured to obtain vehicle surrounding environment information including target parking space information and obstacles by using an automatic driving sensor and send the vehicle surrounding environment information to an automatic driving controller.

7. A parking pose control system characterized by comprising: The OMS controller is configured to obtain passenger image information by using an OMS sensor, obtain distribution information of passengers in a cabin based on the passenger image information, and send the distribution information to the automatic driving controller. ​ ​ An automatic driving controller configured to generate a parking route based on the vehicle surrounding environment information and the distribution information, the parking route being used to control the vehicle to complete a target parking pose for facilitating getting off; wherein: The automatic driving controller comprises an execution unit configured to: identify target parking space information; determine whether a distance between a passenger side opening point after the vehicle is centered and parked and an obstacle is less than a first preset distance, the first preset distance being determined based on a maximum space required for the passenger to open the door and get on or off the vehicle; if the distance is not less than the first preset distance, then the vehicle is centered and parked; if the distance is less than the first preset distance, the passenger side obstacle is kept at the first preset distance, and it is determined whether a distance between the vehicle and the two side obstacles is less than a second preset distance, the second preset distance being determined based on a positioning error of the automatic driving sensor to ensure that there is no mutual interference between the vehicle and the obstacles in the case of the maximum positioning error; if the distance is not less than the second preset distance, then the vehicle is parked according to a preset offset distance between the vehicle and the obstacles.

8. The parking pose control system according to claim 7, characterized by, if the distance is less than the second preset distance, it is determined whether a parking time of the vehicle is less than a maximum parking time, the maximum parking time being obtained based on a maximum temporary parking time of a parking area; if the parking time is less than the maximum parking time, the vehicle is temporarily parked; if the parking time is not less than the maximum parking time, other parking spaces are searched.

9. The parking pose control system according to claim 8, characterized by, The execution unit is further configured to: control a steering system, a power system and a control system to temporarily park the vehicle in a front area of the parking space.

10. An electronic device, comprising: comprise: at least one processor; and at least one memory connected in communication with the processor, wherein the memory stores program instructions executable by the processor, and the processor invokes the program instructions to execute the method according to any one of claims 1 to 6.

11. A computer readable storage medium, characterized in that, a computer program is stored thereon, and the computer program is executed by a computer to execute the method according to any one of claims 1 to 6.

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