A method, system and electronic device for determining a memory pullout route endpoint

Abstract

The application discloses a method, system and electronic device for determining a memory parking-out route endpoint, the method comprising: calculating a road slope corresponding to a current first position of a vehicle; determining whether the road slope is within a range from a first preset value to a second preset value; if not, controlling the vehicle to travel until the road slope corresponding to a current second position of the vehicle is within the range from the first preset value to the second preset value; and if yes, controlling the vehicle to stop at the current first position and taking the current first position as the endpoint of the memory parking-out route. The technical scheme provided by the embodiment of the application avoids parking the vehicle on a slope in the memory parking mode, thereby avoiding the occurrence of problems such as vehicle sliding, and further avoiding the occurrence of safety accidents.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent driving, in particular to a method and system for determining the endpoint of a memory parking-out route and an electronic device. BACKGROUND

[0002] At present, in the field of intelligent driving, memory parking realizes a more comprehensive parking scenario on the basis of automatic parking, and is increasingly attracting market attention.

[0003] Memory parking refers to a scenario in which a user creates a parking route by driving a vehicle, wherein the start point and the end point of the parking route correspond to the user's daily drop-off point and pick-up point, respectively, and thereafter the vehicle can automatically park in and park out according to the created parking route.

[0004] However, the memory parking currently available on the market only supports the parking-in scenario of an indoor underground parking lot, and does not support the parking-out scenario of an indoor underground parking lot. Therefore, the user needs to drive the vehicle in the indoor underground parking lot to determine the parking-out route of the memory parking.

[0005] Further, when determining the parking-out route of the memory parking, i.e., when determining the memory parking-out route, the slope at the exit of the indoor underground parking lot makes the vehicle in the memory parking prone to stopping on the slope, causing problems such as coasting, and further leading to the occurrence of safety accidents. SUMMARY

[0006] The present application provides a method and system for determining the endpoint of a memory parking-out route and an electronic device, to solve the problem that the vehicle in the memory parking is prone to stopping on the slope, causing problems such as coasting, and further leading to the occurrence of safety accidents. The specific implementation scheme is as follows:

[0007] In a first aspect, the present application provides a method for determining the endpoint of a memory parking-out route, comprising:

[0008] calculating the slope of the road surface corresponding to the current first position of the vehicle;

[0009] determining whether the slope of the road surface is within a range from a first preset value to a second preset value, wherein the first preset value is less than zero, and the second preset value is greater than zero;

[0010] if not, controlling the vehicle to travel until the slope of the road surface corresponding to the current second position of the vehicle is within the range from the first preset value to the second preset value;

[0011] if yes, controlling the vehicle to stop at the current first position, and taking the current first position as the endpoint of the memory parking-out route.

[0012] The current first position of the vehicle corresponds to a road slope is calculated, and whether the road slope is within a first preset value to a second preset value range is determined, so as to determine whether the current first position is a ramp; when the road slope is within the first preset value to the second preset value range, that is, when the current first position is not a ramp, the vehicle is controlled to stop at the current first position, and the current first position is taken as the end point of the memory parking-out route. Through the method, the vehicle in the memory parking is prevented from stopping on the ramp, so as to avoid the occurrence of problems such as vehicle sliding, and further avoid the occurrence of safety accidents.

[0013] In a possible implementation, the current first position of the vehicle corresponds to a road slope is calculated, and whether the road slope is within a first preset value to a second preset value range is determined, so as to determine whether the current first position is a ramp; when the road slope is within the first preset value to the second preset value range, that is, when the current first position is not a ramp, the vehicle is controlled to stop at the current first position, and the current first position is taken as the end point of the memory parking-out route. Through the method, the vehicle in the memory parking is prevented from stopping on the ramp, so as to avoid the occurrence of problems such as vehicle sliding, and further avoid the occurrence of safety accidents.

[0014] In response to determining that the distance currently traveled by the vehicle is greater than a preset distance value, it is determined whether a confirmation parking point instruction is received;

[0015] If not, the vehicle is controlled to travel until the confirmation parking point instruction is received;

[0016] If yes, the current first position of the vehicle corresponds to a road slope is calculated.

[0017] Through the above method, whether the operation of calculating the road slope corresponding to the current first position of the vehicle is performed is determined based on whether the confirmation parking point instruction is received.

[0018] In a possible implementation, before determining whether the confirmation parking point instruction is received, the method further includes:

[0019] It is determined whether the distance currently traveled by the vehicle is greater than the preset distance value;

[0020] If not, the vehicle is controlled to travel until the distance traveled by the vehicle is greater than the preset distance value;

[0021] If yes, it is determined that the distance currently traveled by the vehicle is greater than the preset distance value.

[0022] Through the above method, when determining the end point of the memory parking-out route during creation of the memory parking-out route, whether the distance currently traveled by the vehicle is greater than the preset distance value is determined, so as to avoid that the distance traveled by the vehicle before the end point is determined is too short, and further avoid that the vehicle has passed the end point of the memory parking-out route before successfully identifying that the vehicle has been on the route.

[0023] In a possible implementation, the vehicle is controlled to stop at the current first position, and the current first position is taken as the end point of the memory parking-out route, including:

[0024] acquiring the positioning information when the current first position has the positioning information;

[0025] determining whether the current first position is a dangerous position according to the positioning information;

[0026] if yes, controlling the vehicle to drive until a road slope corresponding to a current third position of the vehicle is within a range of the first preset value to the second preset value and the current third position is not the dangerous position;

[0027] if no, controlling the vehicle to stop at the current first position and taking the current first position as an end point of the memory parking-out route.

[0028] In the above manner, whether the current first position is a dangerous position is determined based on the acquired positioning information of the current first position, and the vehicle is controlled to stop only when the current first position is not a dangerous position, and the current first position is taken as an end point of the memory parking-out route, thereby avoiding the vehicle from stopping at a dangerous position such as a road and further avoiding the occurrence of safety accidents.

[0029] In a second aspect, the present application further provides a system for determining an end point of a memory parking-out route, the system comprising:

[0030] a calculation module configured to calculate a road slope corresponding to a current first position of a vehicle;

[0031] a processing module configured to determine whether the road slope is within a range of a first preset value to a second preset value, wherein the first preset value is less than zero and the second preset value is greater than zero;

[0032] if no, controlling the vehicle to drive until a road slope corresponding to a current second position of the vehicle is within the range of the first preset value to the second preset value;

[0033] if yes, controlling the vehicle to stop at the current first position and taking the current first position as an end point of the memory parking-out route.

[0034] In a possible implementation, the calculation module is specifically configured to determine whether a confirmation parking point instruction is received in response to determining that a distance currently traveled by the vehicle is greater than a preset distance value;

[0035] if no, controlling the vehicle to drive until the confirmation parking point instruction is received;

[0036] if yes, calculating a road slope corresponding to the current first position of the vehicle.

[0037] In a possible implementation, the computing module is specifically configured to determine whether the distance currently traveled by the vehicle is greater than the preset distance value.

[0038] If not, the vehicle is controlled to travel until the distance traveled by the vehicle is greater than the preset distance value.

[0039] If yes, it is determined that the distance currently traveled by the vehicle is greater than the preset distance value.

[0040] In a possible implementation, the processing module is specifically configured to acquire the positioning information when the current first position has the positioning information.

[0041] It is determined according to the positioning information whether the current first position is a dangerous position.

[0042] If yes, the vehicle is controlled to travel until a road slope corresponding to a current third position of the vehicle is within a range from the first preset value to the second preset value, and the current third position is not the dangerous position.

[0043] If not, the vehicle is controlled to stop at the current first position, and the current first position is taken as an end point of the memory parking-out route.

[0044] In a third aspect, the present application provides an electronic device, comprising:

[0045] a memory configured to store a computer program;

[0046] a processor configured to execute the computer program stored in the memory, so as to realize the method steps of determining an end point of a memory parking-out route.

[0047] In a fourth aspect, the present application provides a computer readable storage medium, and the computer readable storage medium stores a computer program, and the computer program is executed by a processor to realize the method steps of determining an end point of a memory parking-out route.

[0048] The technical effects of each aspect and each possible solution of the second aspect to the fourth aspect can be referred to the technical effect description of the first aspect or the first aspect. BRIEF DESCRIPTION OF DRAWINGS

[0049] Figure 1 a flowchart of a method for determining an end point of a memory parking-out route provided by the present application;

[0050] Figure 2 a vehicle and a road schematic diagram provided by the present application;

[0051] Figure 3A schematic diagram of a method for determining a memory parking-out route endpoint provided by the present application is shown in the figure;

[0052] Figure 4 A schematic diagram of a system for determining a memory parking-out route endpoint provided by the present application is shown in the figure;

[0053] Figure 5 A schematic diagram of an electronic device provided by the present application is shown in the figure. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be described in further detail below with reference to the accompanying drawings. The specific operation method in the method embodiment can also be applied to the device embodiment or the system embodiment. It should be noted that in the description of the present application, "multiple" is understood as "at least two". The association relationship of the associated objects is described, which means that there can be three relationships, for example, A and / or B can mean that A exists alone, A and B exist together, and B exists alone. A and B are connected, which means that A and B are directly connected and A and B are connected through C. In addition, in the description of the present application, "first", "second", etc. are used only for the purpose of distinguishing the description, and cannot be understood as indicating or implying relative importance, nor can it be understood as indicating or implying order.

[0055] The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0056] Currently, when determining the parking-out route of memory parking, i.e. when determining the memory parking-out route, the vehicle in memory parking is prone to parking on the ramp due to the existence of ramps at the exits of indoor underground parking lots, causing problems such as coasting, and further causing safety accidents.

[0057] Therefore, the present application provides a method for determining a memory parking-out route endpoint, which calculates the road slope corresponding to the current first position of the vehicle to determine whether the current first position is a ramp when the road slope is within a range from a first preset value to a second preset value; when the road slope is not within the range from the first preset value to the second preset value, the vehicle is controlled to travel until the road slope corresponding to the current second position of the vehicle is within the range from the first preset value to the second preset value; and when the road slope is within the range from the first preset value to the second preset value, the vehicle is controlled to park at the current first position, and the current first position is taken as the endpoint of the memory parking-out route. Through this method, the vehicle in memory parking is prevented from parking on the ramp, thereby avoiding the occurrence of problems such as coasting, and further avoiding safety accidents.

[0058] Reference Figure 1 A flowchart of a method for determining a memory parking-out route endpoint provided by the present application is shown in the figure, which comprises:

[0059] S1, calculating a road surface slope corresponding to a current first position of the vehicle;

[0060] When the vehicle is automatically parked out from the parking space to the parking point by the memory parking function of the vehicle, it is necessary to first create a memory parking-out route of the vehicle, and when the memory parking-out route is created, it is necessary to determine the end point of the memory parking-out route.

[0061] Specifically, after the vehicle starts to drive from the starting point of the memory parking-out route to be created, it is judged whether the current distance traveled by the vehicle is greater than a preset distance value; if the current distance traveled by the vehicle is not greater than the preset distance value, the vehicle is controlled to drive by manual driving until the current distance traveled by the vehicle is greater than the preset distance value.

[0062] It should be noted that in the embodiment of the present application, when the vehicle is controlled to drive by manual driving until the current distance traveled by the vehicle is greater than the preset distance value, it can be that after the vehicle is controlled to drive for a first preset distance value, it is judged whether the current distance traveled by the vehicle is greater than the preset distance value until the current distance traveled by the vehicle is greater than the preset distance value, or it can be that in the process of controlling the vehicle to drive, it is judged in real time whether the current distance traveled by the vehicle is greater than the preset distance value until the current distance traveled by the vehicle is greater than the preset distance value, and in the embodiment of the present application, whether the judgment operation is performed after the vehicle is controlled to drive for a first preset distance value or the judgment operation is performed in real time can be adjusted according to a specific application scenario.

[0063] If yes, it is determined that the current distance traveled by the vehicle is greater than the preset distance value.

[0064] In the above manner, in the process of creating the memory parking-out route, when the end point of the memory parking-out route is determined, based on the judgment of whether the current distance traveled by the vehicle is greater than the preset distance value, it is avoided that the distance traveled by the vehicle before the end point is determined is too short, and thus it is avoided that the phenomenon that the memory parking-out route end point is passed before the vehicle is successfully identified on the route.

[0065] Further, after it is determined that the current distance traveled by the vehicle is greater than the preset distance value, it is judged whether a confirmation parking point instruction is received; if the confirmation parking point instruction is not received, the vehicle is controlled to drive by manual driving until the confirmation parking point instruction is received; if the confirmation parking point instruction is received, the road surface slope corresponding to the current first position of the vehicle is directly calculated.

[0066] It should be noted that, in the process of controlling the vehicle to travel by manually driving the vehicle until the confirmation parking point instruction is received, the vehicle can be controlled to travel for a second preset distance value, and then it is determined whether the confirmation parking point instruction is received until the confirmation parking point instruction is received, or it is determined in real time whether the confirmation parking point instruction is received during the process of controlling the vehicle to travel until the confirmation parking point instruction is received.

[0067] It should be further noted that, when the road slope corresponding to the current first position of the vehicle is calculated, the road slope corresponding to the current first position of the vehicle can be calculated based on a sensor-based calculation method, or the road slope corresponding to the current first position of the vehicle can be calculated based on a dynamics-based calculation method. In the embodiments of the present application, the calculation method of the road slope corresponding to the current first position of the vehicle can be adjusted according to specific application scenarios.

[0068] In the above manner, it is determined whether to perform the operation of calculating the road slope corresponding to the current first position of the vehicle based on the determination of whether the confirmation parking point instruction is received.

[0069] In a possible implementation, in the process of controlling the vehicle to travel by manually driving the vehicle until the confirmation parking point instruction is received when the confirmation parking point instruction is not received, if there is positioning information, it is determined that the vehicle is not currently in any parking space according to the content displayed by the positioning information, or the operation of whether to take the current first position as the end point of the memory parking-out route can be directly performed, that is, the road slope corresponding to the current first position of the vehicle is calculated; if there is no positioning information when the confirmation parking point instruction is not received, the vehicle is controlled to travel by manually driving the vehicle until the confirmation parking point instruction is received or the positioning information is received.

[0070] It should be noted that, in the embodiments of the present application, the positioning information is global navigation satellite system (GNSS) positioning information, and the GNSS can be a global positioning system (GPS), a BeiDou satellite navigation system (BDS), a GLONASS satellite navigation system (GLONASS), or a Galileo satellite navigation system (Galileo). In the embodiments of the present application, a specific positioning system can be selected to determine the positioning information according to specific application scenarios.

[0071] S2, judging whether the road slope is within a range of a first preset value to a second preset value;

[0072] After calculating the road slope corresponding to the current first position of the vehicle, it is judged whether the current first position is a ramp according to the road slope, and whether the vehicle is currently on a ramp.

[0073] Specifically, it is judged whether the road slope is within a range of a first preset value to a second preset value; wherein the first preset value is less than zero, and the second preset value is greater than zero;

[0074] If the road slope is not within the range of the first preset value to the second preset value, step S3 is executed;

[0075] If the road slope is within the range of the first preset value to the second preset value, step S4 is executed.

[0076] It should be noted that when the road slope is less than the first preset value, it means that the vehicle is currently on a downhill ramp; and when the road slope is greater than the second preset value, it means that the vehicle is currently on an uphill ramp.

[0077] For example, referring to a vehicle and road schematic diagram as shown in Figure 2 , the current first position of the vehicle is P3 position, the road slope θ corresponding to the P3 position is 15°, the first preset value θ1 is -2°, the second preset value θ2 is 2°, and the road slope is not within the range of [-2°, 2°] at this time, and step S3 is executed at this time; and the road slope corresponding to the P3 position is greater than the second preset value, which means that the vehicle is currently on an uphill ramp.

[0078] S3, controlling the vehicle to travel until the road slope corresponding to the current second position of the vehicle is within the range of the first preset value to the second preset value;

[0079] When the road slope corresponding to the current first position of the vehicle calculated in step S1 is not within the range of the first preset value to the second preset value, that is, when the vehicle is on a ramp, the vehicle is controlled to travel by manual driving until the road slope corresponding to the current second position of the vehicle is within the range of the first preset value to the second preset value.

[0080] It should be noted that in the embodiments of the present application, when the vehicle is controlled to drive by manual driving until the road slope corresponding to the current second position of the vehicle is within the range of the first preset value to the second preset value, the control of the vehicle driving in step S1 is consistent. It can be that after the vehicle is controlled to drive for a third preset distance value, the road slope corresponding to the current second position of the vehicle is calculated and it is judged whether the road slope is within the range of the first preset value to the second preset value, until the road slope corresponding to the current second position is within the range of the first preset value to the second preset value. It can also be that the road slope corresponding to the current second position of the vehicle is calculated in real time during the process of controlling the vehicle to drive, and it is judged whether the road slope is within the range of the first preset value to the second preset value, until the road slope corresponding to the current second position is within the range of the first preset value to the second preset value.

[0081] For example, referring to the vehicle and road schematic diagram as shown in Figure 2 The current first position of the vehicle is P3 position, the road slope θ corresponding to the P3 position is 15°, the road slope is not within the range of the first preset value -2° to the second preset value 2°, the vehicle is controlled to drive forward by 1 meter by manual driving, at this time the vehicle is located at P2 position, the road slope θ corresponding to the P2 position is still 15°, the road slope is still not within the range of the first preset value -2° to the second preset value 2°, then the vehicle is controlled to drive forward by 1 meter by manual driving again, at this time the vehicle is located at P1 position, the road slope corresponding to the P1 position is almost 0, the road slope is within the range of the first preset value -2° to the second preset value 2°, at this time step S4 is executed.

[0082] S4, controlling the vehicle to stop at the current first position and taking the current first position as the end point of the memory parking-out route;

[0083] When the road slope corresponding to the current first position of the vehicle calculated in step S1 is within the range of the first preset value to the second preset value, the vehicle is controlled to stop at the current first position and the current first position is taken as the end point of the memory parking-out route, thereby completing the creation of the memory parking-out route.

[0084] In a possible implementation, when the vehicle is controlled to stop at the current first position and the current first position is taken as the end point of the memory parking-out route, if the current first position has positioning information, the positioning information is acquired; then it is judged whether the current first position is a dangerous position according to the positioning information, for example, it is judged whether the current first position is on the road according to the positioning information.

[0085] If the current first position is a dangerous position, the vehicle is controlled to drive by manual driving until the road slope corresponding to the current third position of the vehicle is within the range of the first preset value to the second preset value, and the current third position is not a dangerous position.

[0086] It should be noted that in the embodiments of the present application, when the vehicle is controlled to travel by manual driving until the road slope corresponding to the current third position of the vehicle is within the range of the first preset value to the second preset value and the current third position is not a dangerous position, the vehicle can be controlled to travel for a fourth preset distance value, and then steps S1 and S2 are performed until the road slope corresponding to the current third position of the vehicle is within the range of the first preset value to the second preset value and the current third position is not a dangerous position. Alternatively, steps S1 and S2 can be performed in real time during the process of controlling the vehicle to travel until the road slope corresponding to the current third position of the vehicle is within the range of the first preset value to the second preset value and the current third position is not a dangerous position.

[0087] If the current first position is not a dangerous position, the vehicle is controlled to stop at the current first position, and the current first position is taken as the end point of the memorized parking-out route.

[0088] For example, referring to the vehicle and road schematic diagram as shown in Figure 2 The current first position of the vehicle is P1 position, the road slope corresponding to the P1 position is almost 0, the road slope corresponding to the P1 position is within the range of the first preset value -2° to the second preset value 2°, then the positioning information of the P1 position is acquired, it is determined according to the content displayed by the positioning information that the P1 position is not a dangerous position, at this time the vehicle is controlled to stop at the P1 position, and the P1 position is taken as the end point of the memorized parking-out route.

[0089] In the above manner, based on the acquired positioning information of the current first position, it is determined whether the current first position is a dangerous position, and then the vehicle is controlled to stop when the current first position is not a dangerous position, and the current first position is taken as the end point of the memorized parking-out route, thereby avoiding the vehicle stopping at a dangerous position such as a road, and further avoiding the occurrence of safety accidents.

[0090] On the other hand, if the current first position does not have positioning information, it is confirmed that the current first position is located in the parking lot, that is, the vehicle is still in the parking lot, at this time the current first position is not a ramp, and the vehicle can be directly controlled to stop at the current first position, and the current first position is taken as the end point of the memorized parking-out route.

[0091] In a possible implementation, when the vehicle is controlled to park at the current first position and the current first position is taken as the end point of the memory parking-out route, the vehicle can also be controlled to continue driving forward to a current fourth position by manual driving, the current fourth position being a fifth preset distance value away from the current first position, the road slope corresponding to the current fourth position being within a first preset value to a second preset value range, and the current fourth position not being a dangerous position. In addition, during the process of controlling the vehicle to drive from the current first position to the current fourth position, it is determined in real time whether the road slope corresponding to each position in the process is within the first preset value to the second preset value range and whether each position in the process is a dangerous position. Then, when the road slope corresponding to each position in the process is within the first preset value to the second preset value range and each position in the process is not a dangerous position, that is, the road from the current first position to the current fourth position is a flat road and there is no dangerous position in the flat road, the vehicle is controlled to park at the current fourth position and the current fourth position is taken as the end point of the memory parking-out route, so that the parking point of the vehicle is farther away from the slope.

[0092] In a possible implementation, when the vehicle is controlled to park at the current first position and the current first position is taken as the end point of the memory parking-out route, the radar or camera installed on the vehicle body can be used to determine whether the current first position is a dangerous position, for example, whether the current first position is on the road, and then when the current first position is not a dangerous position, the vehicle is controlled to park at the current first position and the current first position is taken as the end point of the memory parking-out route.

[0093] Further, after the vehicle is controlled to park at the current first position and the current first position is taken as the end point of the memory parking-out route, that is, after the creation of the memory parking-out route is completed, the vehicle can be controlled to automatically drive according to the memory parking-out route and drive to the end point of the memory parking-out route based on the memory parking-out route.

[0094] In summary, the method for determining the end point of the memory parking-out route provided in this application determines whether the current first position of the vehicle is a slope by calculating the road slope corresponding to the current first position of the vehicle and determining whether the road slope is within a first preset value to a second preset value range. When the road slope is not within the first preset value to the second preset value range, the vehicle is controlled to drive until the road slope corresponding to the current second position of the vehicle is within the first preset value to the second preset value range. When the road slope is within the first preset value to the second preset value range, the vehicle is controlled to park at the current first position and the current first position is taken as the end point of the memory parking-out route. By this method, the vehicle in the memory parking process is prevented from parking on the slope, thereby avoiding the occurrence of problems such as rolling and further avoiding the occurrence of safety accidents.

[0095] And, based on the acquired positioning information of the current first position, it is determined whether the current first position is a dangerous position, and then the vehicle is controlled to stop only when the current first position is not a dangerous position, avoiding the vehicle stopping at a dangerous position such as a road, and further avoiding the occurrence of safety accidents.

[0096] The technical solutions of the present application will be further described below in combination with a specific application process.

[0097] As Figure 3 The processing process of the method for determining the end point of the memory parking-out route is shown in the figure. In the process of creating the memory parking-out route, when the end point of the memory parking-out route is determined, first, in the driving distance judgment module, it is judged whether the distance that the vehicle has traveled is greater than a preset distance value. If not, the vehicle is controlled to travel by manual driving. In the driving process, it is judged in real time whether the distance that the vehicle has traveled is greater than the preset distance value, until the distance that the vehicle has traveled is greater than the preset distance value. If yes, the operation in the instruction judgment module is executed.

[0098] In the instruction judgment module, it is judged whether a confirmation parking point instruction is received. If yes, the operation in the slope calculation module is executed. If not, the operation in the positioning information judgment module is executed.

[0099] In the positioning information judgment module, it is judged whether there is first positioning information. If not, the vehicle is controlled to travel by manual driving. In the driving process, the operation in the instruction judgment module is executed in real time, until the confirmation parking point instruction is received or the first positioning information exists. If yes, it is determined according to the content displayed by the first positioning information that the vehicle is not currently in any parking space, and the operation in the slope calculation module is executed.

[0100] In the slope calculation module, the slope of the road corresponding to the current first position of the vehicle is calculated, and then the calculated slope of the road is transmitted to the slope judgment module.

[0101] In the slope judgment module, it is judged whether the slope of the road is within a range from a first preset value to a second preset value. If not, the vehicle is controlled to travel by manual driving, and the operation in the slope calculation module is executed in real time, until the slope of the road corresponding to the current second position of the vehicle is within the range from the first preset value to the second preset value. If yes, the operation in the dangerous position judgment module is executed.

[0102] In the dangerous position judgment module, if the current first position has the second positioning information, the second positioning information is acquired, and whether the current first position is a dangerous position is judged according to the second positioning information; if yes, the vehicle is controlled to run through manual driving, and the operations in the slope calculation module and the slope judgment module are executed in real time according to the above steps until the road slope corresponding to the current third position of the vehicle is within the range of the first preset value to the second preset value and the current third position is not a dangerous position; if no, the operation in the parking module is executed; if the current first position has no second positioning information, it is indicated that the current first position is in the parking lot, and the operation in the parking module is directly executed.

[0103] In the parking module, the vehicle is controlled to park at the current first position, and the current first position is taken as the end point of the memory parking-out route.

[0104] In the above manner, whether the operation in the slope calculation module is executed is determined based on the running distance judgment module, the instruction judgment module and the positioning information judgment module, then the road slope calculated in the slope calculation module is transmitted to the slope judgment module, and whether the current first position is a slope is determined through the judgment of whether the road slope in the slope judgment module is within the range of the first preset value to the second preset value, and then whether the current first position is a dangerous position is determined based on the second positioning information corresponding to the current first position in the dangerous position judgment module when the current first position is not a slope, and then the vehicle is controlled to park at the current first position in the parking module when the current first position is not a slope and the current first position is not a dangerous position, and the current first position is taken as the end point of the memory parking-out route, thereby avoiding the vehicle in the memory parking to park on the slope, avoiding the occurrence of problems such as vehicle sliding, and avoiding the occurrence of safety accidents.

[0105] Based on the same inventive concept, the embodiment of the present application also provides a system for determining the end point of the memory parking-out route, as shown in Figure 4 The system for determining the end point of the memory parking-out route provided by the present application has the structure as shown in the figure, and the system comprises:

[0106] The calculation module 401 is configured to calculate the road slope corresponding to the current first position of the vehicle.

[0107] The processing module 402 is configured to judge whether the road slope is within the range of the first preset value to the second preset value, wherein the first preset value is less than zero, and the second preset value is greater than zero.

[0108] If no, the vehicle is controlled to run until the road slope corresponding to the current second position of the vehicle is within the range of the first preset value to the second preset value.

[0109] If yes, the vehicle is controlled to stop at the current first position, and the current first position is taken as an end point of the memory parking-out route.

[0110] In a possible implementation, the calculation module 401 is specifically configured to determine whether the confirmation parking point instruction is received in response to determining that the distance currently traveled by the vehicle is greater than the preset distance value.

[0111] If no, the vehicle is controlled to travel until the confirmation parking point instruction is received.

[0112] If yes, the slope of the road surface corresponding to the current first position of the vehicle is calculated.

[0113] In a possible implementation, the calculation module 401 is specifically configured to determine whether the distance currently traveled by the vehicle is greater than the preset distance value.

[0114] If no, the vehicle is controlled to travel until the distance traveled by the vehicle is greater than the preset distance value.

[0115] If yes, it is determined that the distance currently traveled by the vehicle is greater than the preset distance value.

[0116] In a possible implementation, the processing module 402 is specifically configured to acquire the positioning information when the current first position exists the positioning information.

[0117] It is determined, according to the positioning information, whether the current first position is a dangerous position.

[0118] If yes, the vehicle is controlled to travel until the slope of the road surface corresponding to the current third position of the vehicle is within a range from a first preset value to a second preset value, and the current third position is not a dangerous position.

[0119] If no, the vehicle is controlled to stop at the current first position, and the current first position is taken as an end point of the memory parking-out route.

[0120] Based on the same inventive concept, the embodiment of the present application further provides an electronic device, which can realize the functions of the system for determining the end point of the memory parking-out route. Figure 5 The electronic device includes:

[0121] At least one processor 501 and a memory 502 connected with the at least one processor 501, and the specific connection medium between the processor 501 and the memory 502 is not limited in the embodiment of the present application. Figure 5 In the embodiment, the connection between the processor 501 and the memory 502 is taken as an example in which the bus 500 is connected. The bus 500 is represented by a thick line, and the connection modes between other components are only schematically illustrated and are not limited. The bus 500 can be divided into an address bus, a data bus, a control bus, etc. For convenience, the buses are represented by one bus 500. Figure 5 In the embodiment, the connection between the processor 501 and the memory 502 is taken as an example in which the bus 500 is connected. The bus 500 is represented by a thick line, and the connection modes between other components are only schematically illustrated and are not limited. The bus 500 can be divided into an address bus, a data bus, a control bus, etc. For convenience, the buses are represented by one bus 500.Figure 5 Only one bus is shown for each bus interface for simplicity, but there can be a plurality of buses. Similarly, only one main memory is shown for each bus interface for simplicity. But there can be a plurality of main memories and a plurality of bus interfaces.

[0122] In the embodiments of the present application, the memory 502 stores instructions executable by the at least one processor 501, and the at least one processor 501 can execute the method for determining the end point of the parking-out route of the memory 502 by executing the instructions stored in the memory 502. The processor 501 can implement the functions of the modules of the system shown in the embodiments of the present application. Figure 5 The functions of the modules of the system shown in the embodiments of the present application.

[0123] The processor 501 is the control center of the system, and can connect each part of the control device through various interfaces and lines, and monitor the whole system by running or executing the instructions stored in the memory 502 and calling the data stored in the memory 502, thereby monitoring the whole system.

[0124] In a possible design, the processor 501 can include one or more processing units, and the processor 501 can integrate an application processor and a modem processor, where the application processor mainly processes operating systems, user interfaces, and application programs, and the modem processor mainly processes wireless communication. It can be understood that the modem processor can also not be integrated into the processor 501. In some embodiments, the processor 501 and the memory 502 can be implemented on the same chip, and in some embodiments, they can also be implemented on separate chips respectively.

[0125] The processor 501 can be a general-purpose processor, for example, a central processing unit (CPU), a digital signal processor, an application-specific integrated circuit, a field programmable gate array, or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, and can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method for determining the end point of the parking-out route disclosed in the embodiments of the present application can be directly embodied as execution completed by a hardware processor, or executed by a combination of hardware and software modules in the processor.

[0126] Memory 502, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. Memory 502 may include at least one type of storage medium, such as flash memory, hard disk, multimedia card, card-type memory, random access memory (RAM), static random access memory (SRAM), programmable read-only memory (PROM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), magnetic storage, magnetic disk, optical disk, etc. Memory 502 can be any other medium capable of carrying or storing desired program code in the form of instructions or data structures that can be accessed by a computer, but is not limited thereto. In the embodiments of this application, memory 502 can also be a circuit or any other device capable of implementing storage functions for storing program instructions and / or data.

[0127] By designing and programming the processor 501, the code corresponding to the method for determining the endpoint of the memory docking route described in the foregoing embodiments can be embedded into the chip, thereby enabling the chip to execute the code during operation. Figure 4 The steps of the method for determining the endpoint of the memory exit route in the illustrated embodiment are as follows. How to design and program the processor 501 is a technique well-known to those skilled in the art and will not be described further here.

[0128] Based on the same inventive concept, embodiments of this application also provide a storage medium storing computer instructions that, when executed on a computer, cause the computer to perform the method for determining the destination of the memory exit route described above.

[0129] In some possible implementations, various aspects of the method for determining the endpoint of a memory exit route provided in this application can also be implemented in the form of a program product, which includes program code that, when the program product is run on a device, causes the control device to perform the steps in the method for determining the endpoint of a memory exit route according to the various exemplary embodiments of this application described above.

[0130] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0131] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0132] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0133] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0134] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A method for determining the endpoint of a memory-based departure route, characterized in that, The method includes: In response to determining that the distance the vehicle has traveled is greater than a preset distance value, if a parking point confirmation instruction is received or the vehicle is determined not to be in any parking space based on the location information, the road slope corresponding to the vehicle's current first position is calculated. Determine whether the road surface slope is within the range of a first preset value to a second preset value, wherein the first preset value is less than zero and the second preset value is greater than zero; If not, control the vehicle to drive until the road slope corresponding to the vehicle's current second position is within the range of the first preset value to the second preset value; If so, control the vehicle to stop at the current first position, and use the current first position as the end point of the memorized parking route.

2. The method as described in claim 1, characterized in that, After determining that the distance the vehicle has currently traveled is greater than a preset distance value, the method further includes: Determine whether the parking point confirmation instruction has been received; If not, control the vehicle to move until the confirmed parking point instruction is received.

3. The method as described in claim 2, characterized in that, Before determining whether the parking point confirmation instruction has been received, the method further includes: Determine whether the distance the vehicle has traveled is greater than the preset distance value; If not, control the vehicle to move until the distance the vehicle has traveled is greater than the preset distance value; If so, determine that the distance the vehicle has currently traveled is greater than the preset distance value.

4. The method as described in claim 1, characterized in that, The step of controlling the vehicle to stop at the current first position and using the current first position as the endpoint of the memorized parking route includes: When location information exists at the current first location, the location information is obtained; Based on the location information, determine whether the current first location is a dangerous location; If so, control the vehicle to drive until the road slope corresponding to the vehicle's current third position is within the range of the first preset value to the second preset value, and the current third position is not the dangerous position; If not, control the vehicle to stop at the current first position, and set the current first position as the end point of the memory parking route.

5. A system for determining the endpoint of a memory-based departure route, characterized in that, The system includes: The calculation module is used to calculate the road slope corresponding to the vehicle's current first position in response to determining that the distance the vehicle has traveled is greater than a preset distance value. If a parking point confirmation instruction is received or the vehicle is determined to be not in any parking space based on the content displayed by the location information, the module is used to calculate the road slope corresponding to the vehicle's current first position. The processing module is used to determine whether the road surface slope is within the range of a first preset value to a second preset value, wherein the first preset value is less than zero and the second preset value is greater than zero; If not, control the vehicle to drive until the road slope corresponding to the vehicle's current second position is within the range of the first preset value to the second preset value; If so, control the vehicle to stop at the current first position, and use the current first position as the end point of the memorized parking route.

6. The system as described in claim 5, characterized in that, The calculation module is further configured to determine whether the confirmation parking point instruction has been received after determining that the distance the vehicle has currently traveled is greater than a preset distance value. If not, control the vehicle to move until the confirmed parking point instruction is received.

7. The system as described in claim 6, characterized in that, The calculation module is also used to determine whether the distance the vehicle has traveled is greater than the preset distance value; If not, control the vehicle to move until the distance the vehicle has traveled is greater than the preset distance value; If so, determine that the distance the vehicle has currently traveled is greater than the preset distance value.

8. The system as described in claim 5, characterized in that, The processing module is used to obtain the location information when the current first location has location information; Based on the location information, determine whether the current first location is a dangerous location; If so, control the vehicle to drive until the road slope corresponding to the vehicle's current third position is within the range of the first preset value to the second preset value, and the current third position is not the dangerous position; If not, control the vehicle to stop at the current first position, and set the current first position as the end point of the memory parking route.

9. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor, when executing a computer program stored in the memory, implements the method steps of any one of claims 1-4.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the method described in any one of claims 1-4.

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