Parking Lot Map Generation Method, Device, Storage Medium, and Processor

Abstract

An embodiment of the present application provides a method, apparatus, storage medium, and processor for generating a parking lot map, belonging to the technical field of intelligent vehicle autonomous parking lots. The method includes: obtaining driving trajectory data collected during the driving process of a target vehicle in a target parking lot within a preset time period; wherein the driving trajectory data is the coordinates of driving trajectory points sequentially recorded in chronological order; determining the driving path of the target vehicle according to the driving trajectory data; and determining the parking lot map of the target parking lot according to the driving path of the target vehicle. The present application does not require auxiliary data from external devices and manual assistance, and only needs to analyze and calculate the driving data collected repeatedly by general vehicles to gradually deduce and establish a complete set of parking lot map data, which can effectively improve the accuracy of map data and map accuracy.

Description

Technical Field

[0001] The present application relates to the technical field of parking lots for autonomous driving of intelligent vehicles, and in particular to a parking lot map generating method, a parking lot map generating device, a machine-readable storage medium and a processor. Background Art

[0002] As autonomous driving technology matures, parking lots, which are the last mile of autonomous driving, will also usher in automatic entry and automatic parking, forming a complete closed loop of autonomous driving. Currently, there are many types of parking lots, such as open-air parking lots, indoor parking lots, etc. The shapes of parking lots are also very complex, including squares, rectangles, polygons, special shapes, etc. If each parking lot uses manual means to collect and draw parking lot map data, it will take a lot of manpower and material resources to meet the needs of autonomous driving.

[0003] The existing technology generates parking lot maps by using auxiliary data from external devices such as cameras and lidars. No single method is used and all the data is collected at one time, which leads to problems such as missing data, inaccurate data and high mapping costs. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a parking lot map generation method and device, a storage medium and a processor. The method does not require auxiliary data from external devices such as cameras and lidars, and only needs to analyze and calculate the collected driving trajectory data within a preset time period to generate a complete parking lot map of the parking lot.

[0005] In order to achieve the above-mentioned object, the first aspect of the present application provides a parking lot map generation method, the method comprising:

[0006] Acquire driving trajectory data collected during the driving process of the target vehicle in the target parking lot within a preset time period; wherein the driving trajectory data is the coordinates of the driving trajectory points recorded in chronological order;

[0007] Determining a driving path of the target vehicle according to the driving trajectory data;

[0008] A parking lot map of the target parking lot is determined according to the driving path of the target vehicle.

[0009] In an embodiment of the present application, determining the driving path of the target vehicle according to the driving trajectory data includes:

[0010] Establishing a coordinate axis with a first preset position of the target parking lot as the parking lot origin, pre-generating a rectangular frame based on the coordinate axis according to first setting parameters, and projecting the driving trajectory point into the rectangular frame;

[0011] Divide the rectangular frame into a first preset number of rectangular blocks according to the second set parameter;

[0012] Determine a second preset number of rectangular blocks with trajectory points based on the first preset number of rectangular blocks;

[0013] Determine the driving path of the target vehicle based on the second preset number of rectangular blocks with trajectory points.

[0014] In the embodiment of the present application, the first preset position is the entrance of the parking lot.

[0015] In the embodiment of the present application, the determining the driving path of the target vehicle based on the second preset number of rectangular blocks with trajectory points includes:

[0016] Divide the trajectory points in the second preset number of rectangular blocks into multiple groups of trajectory points in chronological order; where each group of trajectory points includes a third preset number of trajectory points;

[0017] Calculate the first direction attribute of each group of trajectory points relative to the origin of the parking lot according to the origin of the parking lot and the third preset number of trajectory points in each group of trajectory points; where the first direction attribute includes curvature and heading angle;

[0018] Calculate the second direction attribute between adjacent two groups of trajectory points according to the first direction attribute of each group of trajectory points relative to the origin of the parking lot; where the second direction attribute includes left turn, right turn and straight line;

[0019] Stitch the second preset number of rectangular blocks according to the second direction attribute between adjacent two groups of trajectory points to obtain the second preset number of rectangular blocks with direction attributes;

[0020] Determine the driving path of the target vehicle according to the second preset number of rectangular blocks with direction attributes.

[0021] In the embodiment of the present application, the method further includes: determining a parking space according to the timestamp attribute of the driving trajectory points of the target vehicle.

[0022] In the embodiment of the present application, the determining a parking space according to the timestamp attribute of the driving trajectory points of the target vehicle includes:

[0023] Obtain the timestamp of the last trajectory point after the target vehicle stops and the timestamp when the target vehicle starts again after parking;

[0024] If the time interval between the timestamp of the last trajectory point after the target vehicle stops and the timestamp when the target vehicle starts again after parking is greater than a preset time threshold, determine that the last trajectory point is the parking space.

[0025] In an embodiment of the present application, the method further includes:

[0026] Updating the parking lot map of the target parking lot according to the driving paths of multiple target vehicles to form a global parking lot map of the target parking lot.

[0027] A second aspect of the present application provides a parking lot map generation device, the device includes:

[0028] An acquisition module, configured to acquire driving trajectory data collected during the driving process of a target vehicle in a target parking lot within a preset time period; wherein, the driving trajectory data is the coordinates of driving trajectory points recorded in chronological order;

[0029] A first determination module, configured to determine the driving path of the target vehicle according to the driving trajectory data;

[0030] A second determination module, configured to determine the parking lot map of the target parking lot according to the driving path of the target vehicle.

[0031] A third aspect of the present application provides a processor, configured to execute the above-mentioned parking lot map generation method.

[0032] A fourth aspect of the present application provides a machine-readable storage medium, on which instructions are stored, and when the instructions are executed by a processor, the processor is configured to execute the above-mentioned parking lot map generation method.

[0033] Compared with the prior art, the above technical solutions of the present application have the following beneficial effects:

[0034] (1) By acquiring the driving trajectory coordinates collected during the driving process of the target vehicle in the target parking lot within a preset time period, the method of the present application determines the driving path of the target vehicle according to the driving trajectory coordinates, and then determines the parking lot map of the target parking lot, without the need for auxiliary data of external devices and manual assistance, and the map generation cost is low.

[0035] (2) The present application uses the driving data collected by mass vehicles repeatedly for analysis and calculation, and gradually derives and establishes a complete set of parking lot map data, which can effectively improve the accuracy of map data and map accuracy.

[0036] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation part. Description of the Drawings

[0037] The drawings are used to provide a further understanding of the embodiments of the present application, and constitute a part of the specification. Together with the following specific implementation, they are used to explain the embodiments of the present application, but do not constitute a limitation to the embodiments of the present application. In the drawings:

[0038] Figure 1 Schematically shows a flowchart of a method for generating a parking lot map according to an embodiment of the present application;

[0039] Figure 2 Schematically shows an overall schematic diagram of a parking lot;

[0040] Figure 3 Schematically shows a schematic diagram of dividing a parking lot rectangle into rectangular blocks of the same size according to an embodiment of the present application;

[0041] Figure 4 Schematically shows a schematic diagram of a set of parking lot vehicle navigation points for primary data collection according to an embodiment of the present application;

[0042] Figure 5 Schematically shows a schematic diagram of a set of parking lot vehicle navigation points for secondary data collection according to an embodiment of the present application;

[0043] Figure 6 Schematically shows a schematic diagram of point cloud grouping calculation attributes according to an embodiment of the present application;

[0044] Figure 7 Schematically shows a structural block diagram of a parking lot map generation device according to an embodiment of the present application.

[0045] Description of reference numerals

[0046] 1 - Parking lot entrance, 2 - Parking lot exit, 3 - Parking space, 4 - Driving track point. Detailed implementation manners

[0047] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. It should be understood that the specific implementation manners described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present application.

[0048] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) in the embodiments of the present application, then such directional indications are only used to explain the relative positional relationship, movement conditions, etc. between components in a certain specific posture. If this specific posture changes, then the directional indications will also change accordingly. Additionally, if there are descriptions such as "first", "second", etc. in the embodiments of the present application, then such descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. Moreover, the technical solutions between various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement it. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present application.

[0049] Figure 1 Schematically shows a flowchart of a method for generating a parking lot map according to an embodiment of the present application. As Figure 1 shown, in an embodiment of the present application, a method for generating a parking lot map is provided, including the following steps:

[0050] Step 110, obtaining driving trajectory data collected during the driving of a target vehicle in a target parking lot within a preset time period; wherein, the driving trajectory data are driving trajectory point coordinates recorded in chronological order.

[0051] In this embodiment, the target parking lot refers to the parking lot for which a parking lot map needs to be generated. The target vehicle refers to the vehicle that enters the target parking lot to collect driving trajectory data. For example, the driving trajectory data of a Volkswagen vehicle entering the target parking lot can be collected. When a Volkswagen vehicle enters the parking lot, it immediately obtains the driving trajectory data of the vehicle for information collection for map construction.

[0052] Among them, the driving trajectory data are driving trajectory points recorded in chronological order, that is, driving trajectory position coordinates P1(x1,y1), P2(x2,y2), P3(x3,y3)... P n (x n ,y n ). During the driving of the target vehicle in the target parking lot, the driving trajectory position coordinates of the target vehicle are recorded every 100 ms.

[0053] Step 120, determining the driving path of the target vehicle according to the driving trajectory data.

[0054] Figure 2 Schematically shows a schematic diagram of the overall parking lot. As Figure 2As shown, the parking lot includes a parking lot entrance 1, a parking lot exit 2, and a plurality of parking spaces 3. In this embodiment, taking the parking lot entrance of the target parking lot as the origin, a coordinate axis is established, a rectangular frame is pre-generated based on the coordinate axis, and the driving trajectory points obtained in step 110 are projected into the rectangular frame. Figure 4 Schematically shows a schematic diagram of a set of parking lot vehicle navigation points for a single data collection according to an embodiment of the present application, as Figure 4 shown, the driving trajectory points of a certain target vehicle collected for the first time in the target parking lot are distributed in the rectangular block. Figure 5 Schematically shows a schematic diagram of a set of parking lot vehicle navigation points for a secondary data collection according to an embodiment of the present application, as Figure 5 shown, the driving trajectory points of the target vehicle collected for the second time in the target parking lot are distributed in the rectangular block. In this embodiment, the rectangular frame is divided into square grids (rectangular blocks) of the same size, and the square grids with trajectory points are determined, and finally the driving path of the target vehicle is determined according to the square grids with trajectory points.

[0055] Step 130, determine the parking lot map of the target parking lot according to the driving path of the target vehicle.

[0056] In this embodiment, the driving lanes and parking spaces of the target parking lot can be determined according to the driving path of the target vehicle, and then the parking lot map of the target parking lot is determined.

[0057] In one embodiment, the driving trajectory data is a sequence of driving trajectory points recorded in chronological order.

[0058] In this embodiment, during the driving process of the target vehicle in the target parking lot, the driving trajectory positions P1(x1,y1), P2(x2,y2), P3(x3,y3)…P n (x n ,y n ) and timestamps will be recorded in sequence.

[0059] In one embodiment, the determining the driving path of the target vehicle according to the driving trajectory data includes: establishing a coordinate axis with a first preset position of the target parking lot as the parking lot origin, pre-generating a rectangular frame based on the coordinate axis according to a first setting parameter, and projecting the driving trajectory points into the rectangular frame; dividing the rectangular frame into a first preset number of rectangular blocks according to a second setting parameter; determining a second preset number of rectangular blocks with trajectory points based on the first preset number of rectangular blocks; and determining the driving path of the target vehicle based on the second preset number of rectangular blocks with trajectory points.

[0060] In one embodiment, the first preset position is the parking lot entrance.

[0061] In this embodiment, the first preset position may be the entrance of the target parking lot. Exemplarily, the entrance of the target parking lot is calibrated as the origin P0(0,0), and a rectangular frame is pre-generated with the origin P0(0,0) as the base point, as shown in Figure 2 . Figure 3 Schematically shows a schematic diagram of rectangular blocks of the same size obtained by dividing the parking lot rectangular frame according to an embodiment of the present application. As shown in Figure 3 , in this embodiment, the rectangular frame is divided into multiple small rectangular blocks according to preset parameters. During the driving process of the target vehicle, the coordinates of the parking lot entrance point are used as the origin P0, and the driving trajectory positions during the driving process are recorded in sequence: P1(x1,y1), P2(x2,y2), P3(x3,y3)…P n (x n ,y n ) and the time stamp. The recorded position trajectory points of the vehicle itself are used to calculate with the origin P0(0,0) to obtain the coordinate difference between the current position and the origin position of the parking lot, such as: (P1 - P0, P2 - P0, P n - P0), forming a series of difference coordinate point cloud data based on the origin of the parking lot: (P 1 , P 2 , P 3 …P N ). The recorded point cloud data is projected onto the pre-established rectangular frame, as shown in Figures 4 to 5 . The difference coordinate point cloud data is the driving trajectory points.

[0062] In one embodiment, determining the driving path of the target vehicle based on the second preset number of rectangular blocks of the presence trajectory points includes: dividing the trajectory points in the second preset number of rectangular blocks into multiple groups of trajectory points in chronological order; wherein, each group of trajectory points includes a third preset number of trajectory points; calculating a first direction attribute of each group of trajectory points relative to the origin of the parking lot according to the origin of the parking lot and the third preset number of trajectory points in each group of trajectory points; wherein, the first direction attribute includes curvature and heading angle; calculating a second direction attribute between adjacent two groups of trajectory points according to the first direction attribute of each group of trajectory points relative to the origin of the parking lot; wherein, the second direction attribute includes left turn, right turn and straight line; splicing the second preset number of rectangular blocks according to the second direction attribute between adjacent two groups of trajectory points to obtain the second preset number of rectangular blocks with direction attributes; determining the driving path of the target vehicle according to the second preset number of rectangular blocks with direction attributes.

[0063] Figure 6 Schematically shows a schematic diagram of point cloud grouping and calculating attributes according to an embodiment of the present application. As shown in Figure 6As shown, there are three vertically placed driving track points in Group 1 and Group 2, and three horizontally placed driving track points in Group 3. After combining Group 1 and Group 2, it represents a straight line. After combining Group 2 and Group 3, it represents a right turn, and so on. In this embodiment, each group of track points includes 3 track points. Determine whether there are track points in the divided small rectangular blocks. When there are track points, sort them according to the recorded timestamps, and take 3 track points starting from the start time as a group. If there are less than 3 track points, splice them with the track points in the next rectangular block until 3 track points are reached. In this embodiment, each group of track points is used as a whole to perform attribute judgment with the origin of the parking lot, and the specific attributes of each group of track points are calculated. The specific implementation is as follows: Based on the three coordinate point clouds P 1 (x1, y1), P 2 (x2, y2), P 3 (x3, y3), the curvature value and heading angle of this group of track points are calculated. Then, calculate the heading angle of the next group of track points with the heading angle of the previous group of track points to obtain the attribute of this group of track points relative to the previous group of tracks: left turn, right turn, straight line, and splice the calculation results in sequence to complete the path calculation.

[0064] In one embodiment, the method further includes: determining a parking space according to the timestamp attribute of the driving track points of the target vehicle.

[0065] In one embodiment, the determining a parking space according to the timestamp attribute of the driving track points of the target vehicle includes: obtaining the timestamp of the last track point after the target vehicle parks and the timestamp when the target vehicle starts again after parking; if the time interval between the timestamp of the last track point after the target vehicle parks and the timestamp when the target vehicle starts again after parking is greater than a preset time threshold, then determine the last track point as the parking space.

[0066] In this embodiment, after the target vehicle parks, the timestamp of the last track point is recorded. When the target vehicle starts again, query whether there is parking lot data. If there is parking lot data, compare the start timestamp with the timestamp of the first navigation point (track point) when entering the parking lot. If the time interval is greater than the preset threshold (the preset threshold can be set to 1 hour), then mark the current navigation point as the parking space.

[0067] In one embodiment, the method further includes: updating the parking lot map of the target parking lot according to the driving paths of multiple target vehicles to form the global parking lot map of the target parking lot.

[0068] In this embodiment, the driving track data is collected multiple times by different vehicles, and multiple repeated comparison and learning are performed to update and improve the parking lot map data, and finally the complete map data of the parking lot is generated.

[0069] Figure 1 It is a schematic flowchart of a method for generating a parking lot map in an embodiment. It should be understood that although each step in the flowchart Figure 1 is shown in sequence according to the indication of the arrow, these steps are not necessarily executed in the order indicated by the arrow. Unless there is a clear indication in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, Figure 1 at least a part of the steps in

[0070] In one embodiment, as shown in Figure 7 , a parking lot map generation device is provided, including an acquisition module, a first determination module, and a second determination module, where:

[0071] The acquisition module 210 is configured to acquire driving trajectory data collected during the driving of a target vehicle in a target parking lot within a preset time period; wherein, the driving trajectory data is the coordinates of driving trajectory points recorded in chronological order.

[0072] The first determination module 220 is configured to determine the driving path of the target vehicle according to the driving trajectory data.

[0073] The second determination module 230 is configured to determine the parking lot map of the target parking lot according to the driving path of the target vehicle.

[0074] The parking lot map generation device includes a processor and a memory. The above acquisition module 210, first determination module 220, and second determination module 230 are all stored in the memory as program units, and the corresponding functions are implemented by the processor executing the above program modules stored in the memory.

[0075] The processor contains a kernel, and the kernel retrieves the corresponding program unit from the memory. One or more kernels can be set, and the method for generating a parking lot map is realized by adjusting the kernel parameters.

[0076] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of, for example, read-only memory (ROM) or flash memory (flash RAM), and the memory includes at least one storage chip.

[0077] An embodiment of the present application provides a storage medium with a program stored thereon, and when the program is executed by a processor, the above-mentioned parking lot map generation method is implemented.

[0078] In one embodiment, the parking lot map generation device provided by the present application can be implemented in the form of a computer program, and the computer program can run on a computer device. Each program module constituting the parking lot map generation device can be stored in the memory of the computer device. For example, Figure 7 the acquisition module 210, the first determination module 220, and the second determination module 230 shown in the figure. The computer program constituted by each program module enables the processor to execute the steps in the parking lot map generation method of each embodiment of the present application described in this specification.

[0079] The computer device can execute step 110 through the acquisition module 210 in the parking lot map generation device as shown in Figure 7 the figure. The computer device can execute step 120 through the first determination module 220. The computer device can execute step 130 through the second determination module 230.

[0080] An embodiment of the present application provides a device, which includes a processor, a memory, and a program stored on the memory and executable on the processor. When the processor executes the program, the following steps are implemented:

[0081] Step 110: Obtain driving trajectory data collected during the driving of a target vehicle in a target parking lot within a preset time period; wherein, the driving trajectory data is a sequence of driving trajectory point coordinates recorded in chronological order.

[0082] Step 120: Determine the driving path of the target vehicle according to the driving trajectory data.

[0083] Step 130: Determine the parking lot map of the target parking lot according to the driving path of the target vehicle.

[0084] In one embodiment, the determining the driving path of the target vehicle according to the driving trajectory data includes:

[0085] Establish a coordinate axis with the first preset position of the target parking lot as the parking lot origin, pre-generate a rectangular frame based on the coordinate axis according to the first setting parameter, and project the driving trajectory points into the rectangular frame;

[0086] Divide the rectangular frame into a first preset number of rectangular blocks according to the second setting parameter;

[0087] Determine a second preset number of rectangular blocks with trajectory points based on the first preset number of rectangular blocks;

[0088] Determine the driving path of the target vehicle based on the second preset number of rectangular blocks of the existing trajectory points.

[0089] In one embodiment, the first preset position is the entrance of the parking lot.

[0090] In one embodiment, the determining the driving path of the target vehicle based on the second preset number of rectangular blocks of the existing trajectory points includes:

[0091] Divide the trajectory points in the second preset number of rectangular blocks into multiple groups of trajectory points in chronological order; wherein, each group of trajectory points includes a third preset number of trajectory points;

[0092] Calculate the first direction attribute of each group of trajectory points relative to the origin of the parking lot according to the origin of the parking lot and the third preset number of trajectory points in each group of trajectory points; wherein, the first direction attribute includes curvature and heading angle;

[0093] Calculate the second direction attribute between adjacent two groups of trajectory points according to the first direction attribute of each group of trajectory points relative to the origin of the parking lot; wherein, the second direction attribute includes left turn, right turn and straight line;

[0094] Stitch the second preset number of rectangular blocks according to the second direction attribute between adjacent two groups of trajectory points to obtain the second preset number of rectangular blocks with direction attributes;

[0095] Determine the driving path of the target vehicle according to the second preset number of rectangular blocks with direction attributes.

[0096] In one embodiment, the method further includes: determining a parking space according to the timestamp attribute of the driving trajectory points of the target vehicle.

[0097] In one embodiment, the determining a parking space according to the timestamp attribute of the driving trajectory points of the target vehicle includes:

[0098] Obtain the timestamp of the last trajectory point after the target vehicle parks and the timestamp when the target vehicle starts again after parking;

[0099] If the time interval between the timestamp of the last trajectory point after the target vehicle parks and the timestamp when the target vehicle starts again after parking is greater than a preset time threshold, determine that the last trajectory point is the parking space.

[0100] In one embodiment, the method further includes: updating the parking lot map of the target parking lot according to the driving paths of multiple target vehicles to form the global parking lot map of the target parking lot.

[0101] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented 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.

[0102] The present application is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows and / or blocks in the flowchart and / or block diagram, can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate means for realizing the functions specified in Figure 1 one or more of the flows Figure 1 or a plurality of flows and / or blocks

[0103] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including instruction means, and the instruction means realizes the functions specified in Figure 1 one or more of the flows Figure 1 or a plurality of flows and / or blocks

[0104] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for realizing the functions specified in Figure 1 one or more of the flows Figure 1 or a plurality of flows and / or blocks

[0105] It should also be noted that the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, commodity or device comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or elements inherent to such process, method, commodity or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, commodity or device comprising the element.

[0106] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above division of each functional unit and module is used as an example. In actual applications, the above functions can be assigned to different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiments can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of the functional units and modules are only for the convenience of mutual distinction and do not limit the protection scope of the present application.

Claims

1. A method for generating a parking lot map, characterized in that, Without the auxiliary data of external devices, by only analyzing and calculating the driving trajectory data collected within a preset time period, a complete parking lot map of the parking lot can be generated. The method includes: Obtain the driving trajectory data collected during the driving process of a target vehicle in a target parking lot within a preset time period; wherein, the driving trajectory data is the coordinates of driving trajectory points recorded in chronological order. Determine the driving path of the target vehicle according to the driving trajectory data. Determine the parking lot map of the target parking lot according to the driving path of the target vehicle. Update the parking lot map of the target parking lot according to the driving paths of multiple target vehicles to form the global parking lot map of the target parking lot. The determining the driving path of the target vehicle according to the driving trajectory data includes: Establish a coordinate axis with the first preset position of the target parking lot as the origin of the parking lot. Based on the coordinate axis, pre-generate a rectangular frame according to the first set of parameters, and project the driving trajectory points into the rectangular frame. Divide the rectangular frame into the first preset number of rectangular blocks according to the second set of parameters. Determine the second preset number of rectangular blocks with trajectory points based on the first preset number of rectangular blocks. Determine the driving path of the target vehicle based on the second preset number of rectangular blocks with trajectory points.

2. The method for generating a parking lot map according to claim 1, wherein The first preset position is the parking lot entrance.

3. The method for generating a parking lot map according to claim 1, wherein The determining the driving path of the target vehicle based on the second preset number of rectangular blocks with trajectory points includes: Divide the trajectory points in the second preset number of rectangular blocks into multiple groups of trajectory points in chronological order; wherein, each group of trajectory points includes the third preset number of trajectory points. Calculate the first direction attribute of each group of trajectory points relative to the origin of the parking lot according to the origin of the parking lot and the third preset number of trajectory points in each group of trajectory points; wherein, the first direction attribute includes curvature and heading angle. Calculate the second direction attribute between adjacent groups of trajectory points according to the first direction attribute of each group of trajectory points relative to the origin of the parking lot; wherein, the second direction attribute includes left turn, right turn and straight line. Stitch the second preset number of rectangular blocks according to the second direction attribute between adjacent groups of trajectory points to obtain the second preset number of rectangular blocks with direction attributes. Determine the driving path of the target vehicle according to the second preset number of rectangular blocks with direction attributes.

4. The method for generating a parking lot map according to claim 1, wherein The method further includes: determining parking spaces according to the timestamp attribute of the driving trajectory points of the target vehicle.

5. The method for generating a parking lot map according to claim 4, wherein The determining parking spaces according to the timestamp attribute of the driving trajectory points of the target vehicle includes: Obtain the timestamp of the last trajectory point after the target vehicle parks and the timestamp when the target vehicle starts again after parking. If the time interval between the timestamp of the last trajectory point after the target vehicle parks and the timestamp when the target vehicle starts again after parking is greater than the preset time threshold, determine that the last trajectory point is a parking space.

6. A parking lot map generation device, characterized in that, Without the auxiliary data of external devices, by only analyzing and calculating the driving trajectory data collected within a preset time period, a complete parking lot map of the parking lot can be generated. The device includes: An acquisition module, configured to acquire driving trajectory data collected during the driving of a target vehicle in a target parking lot within a preset time period; wherein, the driving trajectory data are driving trajectory point coordinates sequentially recorded in chronological order; A first determination module, configured to determine the driving path of the target vehicle according to the driving trajectory data; A second determination module, configured to determine the parking lot map of the target parking lot according to the driving path of the target vehicle, and update the parking lot map of the target parking lot according to the driving paths of multiple target vehicles to form the global parking lot map of the target parking lot; The determining the driving path of the target vehicle according to the driving trajectory data includes: Establishing a coordinate axis with a first preset position of the target parking lot as the parking lot origin, generating a rectangular frame in advance based on the coordinate axis according to a first setting parameter, and projecting the driving trajectory points into the rectangular frame; Dividing the rectangular frame into a first preset number of rectangular blocks according to a second setting parameter; Determining a second preset number of rectangular blocks with trajectory points based on the first preset number of rectangular blocks; Determining the driving path of the target vehicle based on the second preset number of rectangular blocks with trajectory points.

7. A processor, characterized in that, Configured to execute the parking lot map generation method according to any one of claims 1 to 5.

8. A machine-readable storage medium having instructions stored thereon, characterized in that, When executed by a processor, the instruction causes the processor to be configured to execute the parking lot map generation method according to any one of claims 1 to 5.

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