A method, apparatus, vehicle, and storage medium for determining the heading angle of a slanted train positioning

Abstract

This invention discloses a method, apparatus, vehicle, and storage medium for determining the heading angle of a slanted parking space. The method includes: acquiring environmental information about the vehicle, which is information related to the vehicle's exit from the slanted parking space in the surrounding environment; obtaining a first reference point and a second reference point based on the environmental information, wherein the line connecting the first and second reference points is parallel to the road; and determining the heading angle of the vehicle exiting the slanted parking space based on the coordinates of the first and second reference points. This method, by determining the first and second reference points based on the environmental information surrounding the vehicle, and determining the heading angle of the vehicle exiting the slanted parking space based on the coordinates of the first and second reference points, can calculate the vehicle's heading angle when exiting the slanted parking space, achieving a final slanted parking posture parallel to the actual road.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and in particular to a method, apparatus, vehicle, and storage medium for determining the heading angle of a slanted train position. Background Technology

[0002] With the rapid development of electric vehicles, Advanced Driving Assistance Systems (ADAS) are becoming increasingly popular, among which automatic parking is one of the most representative functions, providing drivers with a highly convenient parking experience. However, many automatic parking products on the market lack the ability to park at an angle or can only park perpendicularly, resulting in a parking position that does not match the actual scenario, greatly affecting the user experience. Summary of the Invention

[0003] This invention provides a method, device, vehicle, and storage medium for determining the heading angle of a slanted train parking space, in order to solve the problem that automatic parking in the prior art cannot achieve the function of slanted parking and exiting.

[0004] According to one aspect of the present invention, a method for determining the heading angle of a slanted train position is provided, the method comprising:

[0005] Acquire environmental information of the vehicle, wherein the environmental information is information in the environment surrounding the vehicle related to the vehicle exiting the inclined train position;

[0006] Based on the environmental information, a first reference point and a second reference point are obtained, and the line connecting the first reference point and the second reference point is parallel to the road.

[0007] Based on the coordinates of the first reference point and the second reference point, determine the heading angle of the vehicle as it exits the inclined train position.

[0008] According to another aspect of the present invention, a device for determining the heading angle of a slanted train parking position is provided, the device comprising:

[0009] The acquisition module is used to acquire environmental information of the vehicle, which is information about the vehicle leaving the inclined train position in the environment surrounding the vehicle.

[0010] The first determining module is used to obtain a first reference point and a second reference point based on the environmental information, wherein the line connecting the first reference point and the second reference point is parallel to the road.

[0011] The second determining module is used to determine the heading angle of the vehicle as it leaves the inclined train position based on the coordinates of the first reference point and the second reference point.

[0012] According to another aspect of the present invention, a vehicle is provided, the vehicle comprising: at least one radar; at least one camera; at least one processor; and

[0013] A memory communicatively connected to the at least one processor; the at least one radar and at least one camera communicatively connected to the at least one processor and the memory; wherein...

[0014] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the slant train positioning heading angle determination method according to any embodiment of the present invention.

[0015] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the method for determining the heading angle of a slanted train position according to any embodiment of the present invention.

[0016] This invention discloses a method, apparatus, vehicle, and storage medium for determining the heading angle of a diagonal parking space. The method includes: acquiring environmental information of the vehicle, wherein the environmental information is information related to the vehicle's exit from the diagonal parking space in the surrounding environment; obtaining a first reference point and a second reference point based on the environmental information, wherein the line connecting the first reference point and the second reference point is parallel to the road; and determining the heading angle of the vehicle exiting the diagonal parking space based on the coordinates of the first reference point and the second reference point. This method, by determining the first and second reference points based on the environmental information surrounding the vehicle, and determining the heading angle of the vehicle exiting the diagonal parking space based on the coordinates of the first and second reference points, can calculate the vehicle's heading angle when exiting the diagonal parking space, achieving a final diagonal parking posture parallel to the actual road, thus solving the problem in the prior art where automatic parking cannot achieve diagonal parking functionality.

[0017] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1This is a flowchart illustrating a method for determining the heading angle of a slanted train position according to Embodiment 1 of the present invention.

[0020] Figure 2 A schematic diagram illustrating the location of a road, provided as an embodiment of the present invention;

[0021] Figure 3 A schematic diagram of a coordinate system provided for an embodiment of the present invention;

[0022] Figure 4 A schematic diagram of a slanted train parking space provided in an embodiment of the present invention;

[0023] Figure 5 This is a flowchart illustrating a method for determining the heading angle of a slanted train position according to Embodiment 2 of the present invention.

[0024] Figure 6 This is a schematic diagram of a slanted train positioning heading angle determination device provided in Embodiment 3 of the present invention;

[0025] Figure 7 This is a structural schematic diagram of a vehicle provided in an embodiment of the present invention. Detailed Implementation

[0026] To enable those skilled in the art to better understand the present invention, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention. It should be understood that the various steps described in the method embodiments of the present invention can be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0027] The term "comprising" and its variations as used herein are open-ended inclusions, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Definitions of other terms will be given in the description below.

[0028] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0029] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0030] The names of the messages or information exchanged between the multiple devices in the embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of these messages or information.

[0031] Example 1

[0032] Figure 1 This is a flowchart illustrating a method for determining the heading angle of a slanted train parking space according to Embodiment 1 of the present invention. This method is applicable to situations where vehicles are automatically parked. The method can be executed by a device for determining the heading angle of a slanted train parking space, which can be implemented by software and / or hardware and is generally integrated into the vehicle. In this embodiment, the vehicle includes, but is not limited to, ordinary transport vehicles, special-purpose vehicles, and special-purpose vehicles.

[0033] like Figure 1 As shown, the method for determining the heading angle of a slanted train position provided in Embodiment 1 of the present invention includes the following steps:

[0034] S110. Obtain the vehicle's environmental information, which is information about the vehicle's exit from the inclined train position in the surrounding environment.

[0035] The vehicle can be located in an angled parking space. An angled parking space is a parking space with an incline, primarily a parallelogram-shaped space. An angled parking space can be one with marked parking lines or one without. Environmental information refers to information about the vehicle's surroundings related to its exit from the angled parking space; this information can be used to determine if there are obstacles on either side of the vehicle.

[0036] In this embodiment, before the vehicle automatically exits the angled parking space, it can first acquire environmental information around the vehicle to determine whether there are parking lines at the parking spot and whether there are obstacles on the left and right sides of the vehicle. Since the automatic parking function can only park, obstacles in front of or behind the vehicle that may affect its exit from the angled parking space can be understood as having been dealt with by the driver before activating the automatic parking function. If other obstacles are detected during the automatic parking process, the vehicle can stop moving and alert the driver of the obstacle. This embodiment will not elaborate on this aspect.

[0037] S120. A first reference point and a second reference point are obtained based on the environmental information, and the line connecting the first reference point and the second reference point is parallel to the road.

[0038] The first and second reference points can be reference points located on the left and right sides of the vehicle, respectively, with the line connecting them parallel to the road. The first and second reference points may vary depending on the environmental information. For example, they could be the vertices of obstacles on either side of the vehicle, or the intersection of parking space lines. The road can be a lane for vehicles to exit an angled parking space. Figure 2 A schematic diagram illustrating the location of a road provided in an embodiment of the present invention, as shown below. Figure 2 As shown, the road is parallel to the shorter side of the inclined train station.

[0039] In this embodiment, a first reference point and a second reference point can be determined based on environmental information. For example, if environmental information determines that there are obstacles on both sides of the vehicle, information about the obstacles can be obtained to further determine the first and second reference points. If environmental information determines that there are parking lines at the vehicle's parking location and / or on both sides of the vehicle, the first and second reference points can be determined based on the intersection of the parking lines.

[0040] S130. Determine the heading angle of the vehicle as it leaves the inclined train position based on the coordinates of the first reference point and the second reference point.

[0041] The coordinates can be the coordinates of the first reference point and the second reference point in the coordinate system. The heading angle can be the angle at which the vehicle exits the inclined train position; the heading angle is the angle between the line connecting the first reference point and the second reference point and the vertical coordinate axis. In this embodiment, the coordinate system includes a horizontal coordinate axis and a vertical coordinate axis. The origin of the coordinate system can be set on the vehicle body, for example, at the very center of the vehicle, or at other locations on the vehicle body.

[0042] In this embodiment, after determining the first reference point and the second reference point, the coordinates of the first reference point and the second reference point can be obtained, and the heading angle of the vehicle exiting the inclined train parking space can be calculated based on the coordinates of the first reference point and the second reference point. For example, Figure 3 A schematic diagram of a coordinate system provided for an embodiment of the present invention, as shown below. Figure 3 As shown, the origin of the coordinate system is set at the rear of the vehicle body, the x-axis passes through the left and right sides of the vehicle body, and the y-axis passes through the front and rear of the vehicle body. Point A' is the first reference point, point B is the second reference point, and the heading angle is the angle between line segment A'B and the y-axis.

[0043] This invention provides a method for determining the heading angle of a diagonal parking space. The method includes: acquiring environmental information about a vehicle, the environmental information being information related to the vehicle's exit from the diagonal parking space in the surrounding environment; obtaining a first reference point and a second reference point based on the environmental information, the line connecting the first reference point and the second reference point being parallel to the road; and determining the heading angle of the vehicle exiting the diagonal parking space based on the coordinates of the first reference point and the second reference point. This method, by determining the first and second reference points based on the environmental information surrounding the vehicle, and determining the heading angle of the vehicle exiting the diagonal parking space based on the coordinates of the first and second reference points, can calculate the vehicle's heading angle when exiting the diagonal parking space, achieving a final diagonal parking posture parallel to the actual road, thus solving the problem in existing automatic parking systems that cannot achieve diagonal parking functionality.

[0044] Based on the above embodiments, modified embodiments of the above embodiments are proposed. It should be noted that, in order to keep the description brief, only the differences from the above embodiments are described in the modified embodiments.

[0045] In one embodiment, the environmental information includes image information, and correspondingly, obtaining the first reference point and the second reference point based on the environmental information includes:

[0046] The camera acquires image information of the environment surrounding the vehicle.

[0047] If parking lines are identified at the vehicle parking area and / or on both sides of the vehicle based on the image information, then the intersection of the two parking lines closest to the front of the vehicle in the image information, as well as the coordinates of the intersection of the parking lines, are identified based on the visual algorithm.

[0048] The intersection of the two parking space lines is used as the first reference point and the second reference point, respectively.

[0049] The image information can be an image of the area surrounding the vehicle, which can be acquired through a camera on the vehicle. Parking lines consist of four corner points and four lines: the entrance line, the left and right dividing lines, and the bottom boundary line. A visual algorithm is a mathematical model that attempts to help a computer understand an image. In this embodiment, the visual algorithm used can be the BEV (Bird's Eye View) visual algorithm. The intersection of parking lines can be the intersection of the lines of adjacent parking spaces.

[0050] In this embodiment, image information of the vehicle's surrounding environment can be acquired via a camera. This image information can be used to determine whether parking lines exist at the parking location and / or on either side of the vehicle. If parking lines exist, the BEV vision algorithm can identify the two closest intersections of the parking lines to the left and right sides of the vehicle's front, and obtain the coordinates of these two intersections. These two intersections are then used as the first and second reference points, respectively. If parking lines exist but their intersections cannot be identified, the first and second reference points can be determined by identifying obstacles on either side of the vehicle. It is understood that if the vehicle is parked with its rear facing an angled parking space entrance line, the two closest intersections of the parking lines to the left and right sides of the rear of the vehicle are identified.

[0051] This embodiment allows for the direct determination of the first and second reference points by the intersection of parking lines when parking spaces exist at the vehicle parking location.

[0052] For example, Figure 4 A schematic diagram of a slanted train parking space provided as an embodiment of the present invention, such as... Figure 4 As shown, there are parking lines at the parking area and on both sides. B and C are the intersections of the two parking lines closest to the front of the car, and line segment BC is parallel to the road. Therefore, B and C can be used as the first reference point and the second reference point, respectively.

[0053] In one embodiment, calculating the heading angle of the vehicle after parking based on the coordinates of the first reference point and the second reference point includes:

[0054] The angle between the line segment formed by the first reference point and the second reference point and the vertical axis is calculated using inverse trigonometric functions; the direction of the vertical axis is the same as the direction of vehicle movement.

[0055] The included angle is taken as the heading angle of the vehicle when it leaves the parking area.

[0056] Among them, inverse trigonometric functions are a type of basic elementary function. Inverse trigonometric functions are a collective term for the functions arcsine (arcsinx), arccosine (arccosx), arctangent (arctanx), arccotangent (arccotx), arcsecant (arcsecx), and arccosecant (arccscx), each representing the angle with sine, cosine, tangent, cotangent, secant, and cosecant respectively, where x is the angle. The direction of movement can be the direction of movement of a vehicle.

[0057] In this embodiment, the angle between the line segment formed by the first reference point and the second reference point and the vertical coordinate axis can be calculated using an inverse trigonometric function. This angle can be used as the heading angle θ of the vehicle when parking. For example, the inverse trigonometric function used in this embodiment can be the arctangent. If the coordinates of the first reference point are (x1, y1) and the coordinates of the second reference point are (x2, y2), then the heading angle of the vehicle when parking is...

[0058] This embodiment can accurately calculate the heading angle of the vehicle when parking using inverse trigonometric functions, so that the vehicle's final angled parking posture is parallel to the actual road.

[0059] In one embodiment, prior to acquiring the vehicle's environmental information, the method further includes:

[0060] Determine if there is automatic parking information for the vehicle. If not, perform the operation of obtaining the vehicle's environmental information; otherwise, determine the parking space angle when the vehicle is parked based on the vehicle's automatic parking information.

[0061] The heading angle of the vehicle when parking is determined based on the parking space angle.

[0062] The automatic parking information can be the automatic parking information stored on the vehicle. The parking space angle can be the angle at which the vehicle is parked.

[0063] In this embodiment, if the automatic parking information contains information about when the driver entered the angled parking space, then when the driver exits the angled parking space, if the automatic parking assist (APA) function is used, the driver can be prompted to determine the heading angle for this exit based on the parking space angle during the previous automatic angled parking. This embodiment does not limit how the heading angle is determined based on the parking space angle.

[0064] This embodiment can directly determine the heading angle of the vehicle when the vehicle has stored automatic parking information, thereby achieving the final oblique parking posture of the vehicle parallel to the actual road.

[0065] In one embodiment, obtaining the heading angle may further include: determining the parking space angle when the vehicle is parked based on the vehicle's automatic parking information; and determining the heading angle when the vehicle is parked out based on the parking space angle.

[0066] In this embodiment, the heading angle can also be obtained by determining it based on the automatic parking information stored in the vehicle.

[0067] Example 2

[0068] Figure 5This is a flowchart illustrating a method for determining the heading angle of a slanted train positioning according to Embodiment 2 of the present invention. Embodiment 2 is an optimization based on the above embodiments. In this embodiment, the environmental information may include obstacle information. For details not covered in this embodiment, please refer to Embodiment 1.

[0069] like Figure 5 As shown in Embodiment 2 of the present invention, a method for determining the heading angle of a slanted train position includes the following steps:

[0070] S210. Obtain environmental information of the vehicle, wherein the environmental information is information in the environment surrounding the vehicle related to the vehicle leaving the inclined train position.

[0071] S220. Obtain the set of point coordinates of the obstacles by scanning the obstacles on both sides of the vehicle with radar.

[0072] In this context, radar can be an electronic device that uses electromagnetic waves to detect targets, and it can be mounted on a vehicle. Radar can be lidar, ultrasonic radar, microwave radar, etc. For example, radar can be a long-range probe. Obstacles can be other vehicles parked on either side of the vehicle. The set of point coordinates can be the set of coordinates of points on the obstacle.

[0073] In this embodiment, the vehicle is initially positioned within an angled parking space before parking begins. When the vehicle starts parking, the first segment of the path is straight. Therefore, at regular intervals (e.g., every 5 centimeters), radar can scan points on obstacles on both sides of the vehicle and determine the coordinates of these points. The horizontal coordinate of each point on the obstacle can be determined based on the distance between the vehicle and the obstacle as detected by the radar, while the vertical coordinate can be determined based on the distance the vehicle has traveled.

[0074] S230. Determine the first reference point and the second reference point based on the two points closest to the road in the set of point coordinates.

[0075] In this embodiment, in the obtained set of point coordinates, a first reference point and a second reference point can be determined based on the two points in the set that are closest to the road. For example, such as... Figure 3 As shown, the points A and B on either side of the vehicle that was last scanned and is closest to the road are the last two points on the road.

[0076] In one embodiment, determining the first reference point and the second reference point based on the two points closest to the road in the set of point coordinates includes:

[0077] Obtain the two points closest to the road from the set of point coordinates;

[0078] The first reference point is obtained by processing the point that is not on the edge of the road.

[0079] The point on the road edge of the two points is used as the second reference point.

[0080] In this embodiment, according to Figure 3 As can be seen, after obtaining the two points A and B closest to the road in the set of point coordinates, point B is on the edge of the road and can be directly used as the second reference point. However, at this time, the line connecting A and B is not yet parallel to the road, so point A still needs to be processed to obtain the first reference point.

[0081] Furthermore, the process of processing the point that is not on the road edge of the two points to obtain the first reference point includes:

[0082] The x-coordinate of the point that is not on the edge of the road is translated by a preset distance; wherein the translation direction is the direction opposite to the vehicle.

[0083] Use the translated point as the first reference point.

[0084] The preset distance can be the width of the obstacle. The preset distance can be used to determine the distance that a point not on the edge of the road needs to be moved. The preset distance can be set according to the actual situation.

[0085] In this embodiment, for points not located at the road edge, their horizontal coordinates can be shifted by a preset distance. The shifted point can then be used as a first reference point, with the shift direction being away from the vehicle. For example, according to... Figure 3 It can be seen that the line connecting A' and B is parallel to the road. Therefore, the coordinates of point A' can be determined based on the coordinates of point A. When the obstacle is a vehicle, the default width of the vehicle can be 1.9 meters (or other values ​​can be set), so the preset distance is 1.9 meters. At this time, relative to the positive x-axis, point A' is to the left of point A. Therefore, if the coordinates of point A are (x, y), then the coordinates of point A' are (x-1.9, y). That is, point A' is the first reference point, and B is the second reference point.

[0086] S240. Determine the heading angle of the vehicle as it leaves the inclined train position based on the coordinates of the first reference point and the second reference point.

[0087] This invention provides a method for determining the heading angle of a slanted parking space, comprising: acquiring environmental information of a vehicle, wherein the environmental information is information related to the vehicle's exit from the slanted parking space in the surrounding environment; obtaining a set of point coordinates of the obstacles on both sides of the vehicle by scanning the obstacles with radar; determining a first reference point and a second reference point based on the two points closest to the road in the set of point coordinates; and determining the heading angle of the vehicle when it exits the slanted parking space based on the coordinates of the first reference point and the second reference point. This method, by obtaining the set of point coordinates of the obstacles on both sides of the vehicle by radar scanning, and determining the first and second reference points based on the two points closest to the road in the set of point coordinates, can calculate the heading angle of the vehicle when it exits the slanted parking space even when there are no parking lines in the slanted parking space. This ensures that the vehicle's final slanted parking posture is parallel to the actual road, solving the problem that automatic parking in the prior art cannot achieve slanted parking.

[0088] Example 3

[0089] Figure 6 This is a schematic diagram of a slanted train positioning heading angle determination device provided in Embodiment 3 of the present invention. The device is applicable to controlling automatic parking of vehicles. The device can be implemented by software and / or hardware and is generally integrated into the vehicle.

[0090] like Figure 6 As shown, the device includes:

[0091] The acquisition module 310 is used to acquire environmental information of the vehicle, wherein the environmental information is information related to the vehicle leaving the inclined train position in the environment surrounding the vehicle.

[0092] The first determining module 320 is used to obtain a first reference point and a second reference point based on the environmental information, wherein the line connecting the first reference point and the second reference point is parallel to the road.

[0093] The second determining module 330 is used to determine the heading angle of the vehicle when it leaves the inclined train position based on the coordinates of the first reference point and the second reference point.

[0094] This embodiment provides a device for determining the heading angle of a diagonal parking space, comprising: an acquisition module for acquiring environmental information of a vehicle, wherein the environmental information is information related to the vehicle's exit from the diagonal parking space in the surrounding environment; a first determination module for obtaining a first reference point and a second reference point based on the environmental information, wherein the line connecting the first reference point and the second reference point is parallel to the road; and a second determination module for determining the heading angle of the vehicle exiting the diagonal parking space based on the coordinates of the first reference point and the second reference point. By determining the first reference point and the second reference point based on the environmental information surrounding the vehicle, and determining the heading angle of the vehicle exiting the diagonal parking space based on the coordinates of the first reference point and the second reference point, the heading angle of the vehicle when exiting the diagonal parking space can be calculated, achieving a final diagonal parking posture that is parallel to the actual road, thus solving the problem that automatic parking in the prior art cannot achieve the diagonal parking function.

[0095] Furthermore, the environmental information includes obstacle information, and correspondingly, the first determining module 320 includes:

[0096] The scanning unit is used to scan obstacles on both sides of the vehicle using radar to obtain a set of point coordinates of the obstacles;

[0097] The determining unit is used to determine a first reference point and a second reference point based on the two points closest to the road in the set of point coordinates.

[0098] Further, the defined units include:

[0099] Obtain the two points closest to the road from the set of point coordinates;

[0100] The first reference point is obtained by processing the point that is not on the edge of the road.

[0101] The point on the road edge of the two points is used as the second reference point.

[0102] Furthermore, the process of processing the point that is not on the road edge of the two points to obtain the first reference point includes:

[0103] The x-coordinate of the point that is not on the edge of the road is translated by a preset distance; wherein the translation direction is the direction opposite to the vehicle.

[0104] Use the translated point as the first reference point.

[0105] Furthermore, the environmental information includes image information, and correspondingly, the first determining module 320 includes:

[0106] The camera acquires image information of the environment surrounding the vehicle.

[0107] If parking lines are identified at the vehicle parking area and / or on both sides of the vehicle based on the image information, then the intersection of the two parking lines closest to the front of the vehicle in the image information, as well as the coordinates of the intersection of the parking lines, are identified based on the visual algorithm.

[0108] The intersection of the two parking space lines is used as the first reference point and the second reference point, respectively.

[0109] Furthermore, calculating the heading angle of the vehicle after parking based on the coordinates of the first reference point and the second reference point includes:

[0110] The angle between the line segment formed by the first reference point and the second reference point and the vertical axis is calculated using inverse trigonometric functions; the direction of the vertical axis is the same as the direction of vehicle movement.

[0111] The included angle is taken as the heading angle of the vehicle when it leaves the parking area.

[0112] Furthermore, before obtaining the vehicle's environmental information, the following is also included:

[0113] Determine if there is automatic parking information for the vehicle. If not, perform the operation of obtaining the vehicle's environmental information; otherwise, determine the parking space angle when the vehicle is parked based on the vehicle's automatic parking information.

[0114] The heading angle of the vehicle when parking is determined based on the parking space angle.

[0115] The above-mentioned inclined train position heading angle determination device can execute the inclined train position heading angle determination method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method.

[0116] Example 4

[0117] Figure 7 A schematic diagram of a vehicle that can be used to implement embodiments of the present invention is shown. The vehicle is intended to represent a wheeled vehicle that is powered or towed, travels on roads, and is used for carrying passengers or goods, or for specialized engineering work, such as a general transport vehicle, a special-purpose vehicle, a special-purpose vehicle, and other similar vehicles. Figure 7 The vehicle shown includes: at least one radar 41, at least one camera 42, at least one processor 43, a memory 44 communicatively connected to at least one processor, an input device 45, and an output device 46. Figure 7 Taking a radar 41, a camera 42, and a processor 43 as an example; the radar 41, camera 42, processor 43, memory 44, input device 45, and output device 46 in the vehicle can be connected via a bus or other means. Figure 7 Taking the example of a connection between China and Israel via a bus.

[0118] The memory 44, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the inclined train positioning heading angle determination method in this embodiment of the invention. The processor 43 executes various vehicle functions and data processing by running the software programs, instructions, and modules stored in the memory 44, thereby implementing the aforementioned inclined train positioning heading angle determination method.

[0119] The memory 44 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a given function; the data storage area may store data created based on terminal usage. Furthermore, the memory 44 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory, or other non-volatile solid-state storage device. In some instances, the memory 44 may further include memory remotely located relative to the processor 43, which can be connected to the vehicle via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0120] Input device 45 can be used to receive input digital or character information, and to generate key signal inputs related to user settings and function control of the vehicle. Output device 46 may include display devices such as a display screen.

[0121] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0122] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0123] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0124] To provide interaction with the user, the systems and technologies described herein can be implemented in a vehicle having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the vehicle. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0125] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0126] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0127] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0128] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for determining the heading angle of a slanted train position, characterized in that, The method includes: Acquire environmental information of the vehicle, wherein the environmental information is information in the environment surrounding the vehicle related to the vehicle exiting the inclined train position; Based on the environmental information, a first reference point and a second reference point are obtained, and the line connecting the first reference point and the second reference point is parallel to the road. Based on the coordinates of the first reference point and the second reference point, determine the heading angle of the vehicle as it exits the inclined train position; The environmental information includes obstacle information; correspondingly, obtaining the first reference point and the second reference point based on the environmental information includes: By scanning obstacles on both sides of the vehicle with radar, the set of point coordinates of the obstacles is obtained; The first reference point and the second reference point are determined based on the two points closest to the road in the set of point coordinates.

2. The method according to claim 1, characterized in that, The process of determining the first reference point and the second reference point based on the two points closest to the road in the set of point coordinates includes: Obtain the two points closest to the road from the set of point coordinates; The first reference point is obtained by processing the point that is not on the edge of the road. The point on the road edge of the two points is used as the second reference point.

3. The method according to claim 2, characterized in that, The process of processing the point that is not on the road edge of the two points to obtain the first reference point includes: The x-coordinate of the point that is not on the edge of the road is translated by a preset distance; wherein the translation direction is the direction away from the vehicle. Use the translated point as the first reference point.

4. The method according to claim 1, characterized in that, Calculating the heading angle of the vehicle after parking based on the coordinates of the first reference point and the second reference point includes: The angle between the line segment formed by the first reference point and the second reference point and the vertical axis is calculated using inverse trigonometric functions; the direction of the vertical axis is the same as the direction of vehicle movement. The included angle is taken as the heading angle of the vehicle when it leaves the parking area.

5. The method according to claim 1, characterized in that, Before obtaining the vehicle's environmental information, the following is also included: Determine if there is automatic parking information for the vehicle. If not, perform the operation of obtaining the vehicle's environmental information; otherwise, determine the parking space angle when the vehicle is parked based on the vehicle's automatic parking information. The heading angle of the vehicle when parking is determined based on the parking space angle.

6. A device for determining the heading angle of a slanted train position, characterized in that, The device includes: The acquisition module is used to acquire environmental information of the vehicle, which is information about the vehicle leaving the inclined train position in the environment surrounding the vehicle. The first determining module is used to obtain a first reference point and a second reference point based on the environmental information, wherein the line connecting the first reference point and the second reference point is parallel to the road. The second determining module is used to determine the heading angle of the vehicle as it leaves the inclined train position based on the coordinates of the first reference point and the second reference point. The first determining module includes: The scanning unit is used to scan obstacles on both sides of the vehicle using radar to obtain a set of point coordinates of the obstacles; The determining unit is used to determine a first reference point and a second reference point based on the two points closest to the road in the set of point coordinates.

7. A vehicle, characterized in that, The vehicles include: At least one radar; At least one camera; At least one processor; and A memory communicatively connected to the at least one processor; the at least one radar and at least one camera communicatively connected to the at least one processor and the memory; wherein... The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the method for determining the slant train position heading angle as described in any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the method for determining the heading angle of a slanted train position as described in any one of claims 1-5.

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