A method and device for parking a vehicle into a garage and a vehicle

Abstract

The application relates to a parking method, device, electronic equipment, storage medium and vehicle of a vehicle, the method comprises the following steps: acquiring effective obstacle information of the vehicle; acquiring at least one driving pose information generated when a simulation vehicle in the parking space is out of the parking space according to the effective obstacle information and a preset first collision detection method; selecting target driving pose information from all the driving pose information according to the effective obstacle information; planning a parking path of the vehicle according to the target driving pose information; and controlling the vehicle to park in the parking space according to the parking path. The application effectively avoids the problem that the vehicle collides with obstacles during parking, improves the accuracy and efficiency of vehicle parking, reduces the risk of collision or jamming of the vehicle during parking, and improves the user experience.

Description

Technical Field

[0001] This invention relates to the field of automotive technology, specifically to a method, apparatus, electronic device, storage medium, and vehicle for parking a vehicle. Background Technology

[0002] Currently, with the rapid development of technology, the number of cars is increasing year by year, and parking spaces that are small and surrounded by obstacles are quite common, especially parallel parking spaces. In order to improve the safety and comfort of drivers when parking, it is necessary to solve the problem of accurate planning of parking paths.

[0003] In existing technologies, parking routes for side parking spaces are planned by accurately detecting obstacles to determine whether the vehicle outline overlaps with surrounding obstacles, or by using a grid map occupancy method to determine whether the path is within a passable area under geometric constraints. If the path is within a passable area, it is used as a parking path.

[0004] However, existing technologies suffer from problems such as high dependence on the accuracy of obstacle detection, discontinuous parking path planning, large computational load, high resource consumption, and easy collisions between vehicles and obstacles. Summary of the Invention

[0005] One objective of this invention is to provide a vehicle parking method to solve the problems of high dependence on the accuracy of obstacle detection, discontinuous parking path planning, large computational load, high resource consumption, and easy collision between vehicles and obstacles in the prior art; a second objective is to provide a vehicle parking device; a third objective is to provide an electronic device; a fourth objective is to provide a readable storage medium; and a fifth objective is to provide a vehicle.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] A method for parking a vehicle in a parking space, the method comprising:

[0008] Obtain valid obstacle information for the vehicle, wherein the valid obstacle information is used to characterize the position of obstacles around the parking space where the vehicle is to be parked;

[0009] Based on the effective obstacle information and the preset first collision detection method, at least one driving posture information generated when the simulated vehicle in the parking space leaves the parking space is obtained.

[0010] Based on the effective obstacle information, a target driving posture information is selected from all the driving posture information. When the simulated vehicle leaves the parking space according to the target driving posture information, it does not collide with the obstacle represented by the effective obstacle information.

[0011] Based on the effective obstacle information, plan the vehicle's entry route;

[0012] The system controls the vehicle to enter the parking space according to the specified entry path.

[0013] Furthermore, the effective obstacle information includes first obstacle information, second obstacle information, and lateral obstacle information. The acquisition of the vehicle's effective obstacle information, used to characterize the position of obstacles surrounding the parking space where the vehicle is to be parked, includes:

[0014] Acquire obstacle information around the vehicle transmitted by the sensors;

[0015] The obstacle information is clustered to obtain the first obstacle information, the second obstacle information, and the side obstacle information. The parking space is located between the first obstacle represented by the first obstacle information and the second obstacle represented by the second obstacle information.

[0016] Furthermore, the target driving posture information includes first exit posture information, which includes target heading angle, exit starting coordinates, first turning radius, and first center coordinates;

[0017] The driving posture information includes first exit posture information, which includes target heading angle, exit starting coordinates, first turning radius, and first center coordinates;

[0018] The step of obtaining at least one driving posture information of a simulated vehicle in the parking space when it leaves the parking space, based on the effective obstacle information and a preset first collision detection method, includes:

[0019] Using the first collision detection method, the simulated vehicle exits the parking space at different heading angles to obtain at least one vehicle heading angle;

[0020] The step of selecting target driving posture information from all the driving posture information based on the effective obstacle information, and ensuring that the simulated vehicle does not collide with the obstacle represented by the effective obstacle information when exiting the parking space according to the target driving posture information, includes:

[0021] Based on the effective obstacle information, the starting coordinates for the simulated vehicle to leave the parking space are determined. The starting coordinates for leaving the parking space are located within the parking space and are set at a preset distance from the obstacle represented by the effective obstacle information.

[0022] Based on the effective obstacle information, the target heading angle is selected from all the vehicle heading angles. When the simulated vehicle exits the parking space according to the target heading angle, it does not collide with the obstacle represented by the effective obstacle information.

[0023] The vehicle's maximum turning radius is taken as the first turning radius, and the first center coordinate is obtained based on the target heading angle, the starting coordinate of the exit from the warehouse, and the first turning radius. The abscissa of the first center coordinate is the abscissa of the target starting coordinate of the exit from the warehouse.

[0024] Furthermore, the entry path includes a first entry path, and the step of planning the vehicle's entry path based on the target driving pose information includes:

[0025] Based on the target heading angle, the starting coordinates of the vehicle exiting the warehouse, the first turning radius, and the first center coordinates, the first arc path of the simulated vehicle exiting the warehouse is obtained, and the first arc path is used as the first entry path of the vehicle; the center coordinates of the first arc path are the first center coordinates, the radius of the first arc is the first turning radius, and the starting point of the arc is the starting coordinates of the vehicle exiting the warehouse.

[0026] Furthermore, the target driving pose information includes second exit pose information, which includes target heading angle, target exit end coordinates, second turning radius, and second circle center coordinates;

[0027] The step of obtaining at least one driving posture information of a simulated vehicle in the parking space when it leaves the parking space, based on the effective obstacle information and a preset first collision detection method, includes:

[0028] Using the first collision detection method, the simulated vehicle exits the parking space at different heading angles to obtain at least one vehicle heading angle, exit end coordinates, and turning radius;

[0029] The step of selecting target driving posture information from all the driving posture information based on the effective obstacle information, and ensuring that the simulated vehicle does not collide with the obstacle represented by the effective obstacle information when exiting the parking space according to the target driving posture information, includes:

[0030] Based on the effective obstacle information, the target heading angle is selected from all the vehicle heading angles;

[0031] Based on the target heading angle, when the x-coordinate of the exit end coordinate and the turning radius satisfy the preset traversal end condition, the target exit end coordinate and the second turning radius are selected from all the x-coordinates of the exit end coordinates and the turning radii.

[0032] Based on the target heading angle, the target exit end coordinates, and the second turning radius, the second center coordinates are obtained, and the x-coordinate of the second center coordinates is the x-coordinate of the target exit end coordinates.

[0033] Furthermore, the entry path includes a second entry path, and the step of planning the vehicle's entry path based on the target driving pose information includes:

[0034] Based on the target heading angle, the target exit end coordinates, the second turning radius, and the second center coordinates, the second arc path of the simulated vehicle exiting the warehouse is obtained, and the second arc path is used as the second entry path of the vehicle; the center coordinates of the second arc are the second center coordinates, the radius of the second arc is the entry turning radius, and the starting point of the arc is the target exit end coordinates.

[0035] Furthermore, the entry path includes a first entry path, a second entry path, and a third entry path. The step of planning the vehicle's entry path based on the effective obstacle information further includes:

[0036] Based on the first inbound path and the second inbound path, a straight path is obtained, wherein the straight path is tangent to both the first inbound path and the second inbound path;

[0037] The third entry path is determined based on the first and second tangent points where the straight path intersects the first entry path and the second entry path. The length of the third entry path is the distance between the first and second tangent points.

[0038] A vehicle parking device, the device comprising:

[0039] An obstacle information acquisition module is used to acquire valid obstacle information of the vehicle, wherein the valid obstacle information is used to characterize the position of obstacles around the parking space where the vehicle is to be parked;

[0040] The pose information acquisition module is used to acquire at least one driving pose information generated when a simulated vehicle in the parking space leaves the parking space, based on the effective obstacle information and a preset first collision detection method.

[0041] The target pose information acquisition module is used to select target driving pose information from all the driving pose information based on the effective obstacle information, so that when the simulated vehicle leaves the parking space according to the target driving pose information, it does not collide with the obstacle represented by the effective obstacle information.

[0042] The inbound path planning module is used to plan the inbound path of the vehicle based on the target driving pose information.

[0043] The entry control module is used to control the vehicle to enter the parking space according to the entry path.

[0044] An electronic device includes a processor and a memory, the memory storing a program or instructions executable on the processor, the program or instructions, when executed by the processor, implementing the steps of the vehicle parking method as described above.

[0045] A readable storage medium storing a program or instructions that, when executed by a processor, implement the steps of the vehicle parking method described above.

[0046] A vehicle includes a parking device for a vehicle as described above, to implement the steps of the parking method for a vehicle as described above.

[0047] The beneficial effects of this invention are:

[0048] (1) The present invention sets up a simulated vehicle in the parking space and simulates the vehicle’s exit path to obtain the vehicle’s entry path, which effectively avoids the problem of the vehicle colliding with obstacles when entering the parking space, improves the accuracy and efficiency of vehicle entry, reduces the risk of vehicle collision or jamming during the entry process, and improves the user experience.

[0049] (2) This invention obtains various driving pose information of simulated vehicles leaving the parking space through a collision detection method, and obtains the parking path by traversing various driving pose information. It has low dependence on the accuracy of obstacle detection, the generated parking path planning is continuous, the amount of calculation is small, and the resource occupancy rate is reduced. Attached Figure Description

[0050] In the attached diagram:

[0051] Figure 1 This is a schematic diagram illustrating the application environment of a vehicle parking method provided in an embodiment of the present invention.

[0052] Figure 2 This is a flowchart of the steps of a vehicle parking method provided in an embodiment of the present invention;

[0053] Figure 3 This is a structural diagram of a vehicle entry route planning method provided in an embodiment of the present invention;

[0054] Figure 4(a) is a structural diagram of the vehicle's first initial position adjustment provided in an embodiment of the present invention;

[0055] Figure 4(b) is a structural diagram of the vehicle second initial position adjustment provided in an embodiment of the present invention;

[0056] Figure 4(c) is a structural diagram of the vehicle third initial position adjustment provided in an embodiment of the present invention;

[0057] Figure 5 This is a block diagram of a vehicle parking device provided in an embodiment of the present invention;

[0058] Figure 6 This is a functional component relationship diagram of an electronic device provided in an embodiment of this application;

[0059] Figure 7 This is a functional component relationship diagram of another electronic device provided in the embodiments of this application.

[0060] Among them, 10-lateral obstacle; 11-first obstacle; 12-second obstacle; 13-vehicle; 14-parking space. Detailed Implementation

[0061] The embodiments of the present invention will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention and not for limiting the scope of protection of the present invention.

[0062] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0063] First, it should be noted that vehicle collision detection is a technology or system that uses sensors, cameras, lidar, and other devices, along with related algorithms and software, to monitor and identify objects around the vehicle, predict and assess the risk of a collision, and take appropriate measures to avoid or mitigate collision damage when such a risk is detected. Collision detection can be performed from the front, rear, and sides of the vehicle and can be used in autonomous driving systems, safety assistance systems, and more.

[0064] FreeSpace clustering is a density-based clustering algorithm that partitions a dataset by measuring the distance and density between data points. The algorithm first divides the data points into different clusters based on distance, then further subdivides each cluster until a certain stopping condition is met. FreeSpace clustering can discover clusters of arbitrary shapes and has some tolerance for noisy data.

[0065] Clustering is a prototype-based clustering algorithm that partitions a dataset by defining cluster prototypes. The algorithm first randomly selects some data points as cluster prototypes, then assigns each data point to the nearest cluster by calculating the distance between the data point and the prototype. Next, the algorithm updates the cluster prototypes to better represent the data points within each cluster, and repeats this process until convergence. Clustering is suitable for large datasets and high-dimensional data, and can discover spherical and ellipsoidal clusters.

[0066] Figure 1 This is a schematic diagram illustrating the application environment of a vehicle parking method according to an embodiment of the present invention, with reference to... Figure 1 As shown, the vehicle parking method can be applied to a domain controller for a vehicle 13 provided in this application. The vehicle 13 is placed on a road. A lateral obstacle 10 is provided on one side of the road, and a first obstacle 11, a parking space 14, and a second obstacle 12 are arranged side-by-side on the other side of the road. The parking space 14 is located between the first obstacle 11 and the second obstacle 12, with its opening facing the lateral obstacle 10. The vehicle 13 acquires information about the lateral obstacle 10, the first obstacle 11, and the second obstacle 12 using sensors, and transmits this information to the domain controller. Then, the parking method provided by this invention obtains the parking path of the vehicle 13, and according to the parking path, the vehicle 13 enters the parking space 14. The information about obstacles acquired by the sensors can be uploaded to the domain controller via wired transmission or via wireless networks such as 3G (third-generation mobile information technology), 4G (fourth-generation mobile information technology), and 5G (fifth-generation mobile information technology). The embodiments of this application do not limit this and can be configured according to actual needs.

[0067] In some embodiments, parking path planning suffers from problems such as high dependence on the accuracy of obstacle detection, discontinuous generated parking path planning, high computational load, high resource consumption, and susceptibility to vehicle collisions with obstacles. To address these issues, embodiments of this application propose a vehicle parking method, apparatus, electronic device, storage medium, and vehicle, which will be described in detail below.

[0068] Figure 2 This is a flowchart illustrating the steps of a vehicle parking method according to an embodiment of the present invention, referring to... Figure 1 As shown, the method may include:

[0069] Step 101: Obtain valid obstacle information for the vehicle. The valid obstacle information is used to characterize the location of obstacles around the parking space where the vehicle is to be parked.

[0070] In an embodiment of the present invention, Figure 3 This is a structural diagram of a vehicle entry route planning method provided in an embodiment of the present invention, with reference to... Figure 3 As shown, when the vehicle activates its parking function, sensors mounted on vehicle 13 detect obstacles around the vehicle. These sensors provide contour information of the obstacles, including line segment information and geometric type information. Examples of these sensors include four high-definition global cameras and twelve ultrasonic radar sensors; this application does not limit the type or number of sensors. The sensors transmit the obstacle information to the domain controller on vehicle 13 or to the cloud for processing. The domain controller or cloud uses FreeSpace and clustering algorithms to filter, select, and cluster the obstacle information to obtain valid obstacle information for the vehicle. This valid obstacle information characterizes the location of obstacles surrounding the parking space where the vehicle is to be parked.

[0071] In this embodiment of the invention, Figure 4(a) is a structural diagram of the vehicle's first initial position adjustment provided by this embodiment, Figure 4(b) is a structural diagram of the vehicle's second initial position adjustment provided by this embodiment, and Figure 4(c) is a structural diagram of the vehicle's third initial position adjustment provided by this embodiment. When the vehicle activates the parking function, it is also necessary to calculate whether the vehicle's initial position will collide with an obstacle. The initial positions that will collide with obstacles include the first initial position, the second initial position, and the third initial position. Referring to Figure 4(a), the first initial position of vehicle 13 is located close to the opening of the parking space and is very close to the first obstacle 11 or the second obstacle 12. When parking, vehicle 13 is likely to collide with the first obstacle 11 or the second obstacle 12, so vehicle 13 is moved to a preset position.

[0072] In this embodiment of the invention, referring to FIG4(b), the second initial position of the vehicle is set close to the side obstacle 10. When parking, the vehicle 13 is likely to collide with the side obstacle 10, so the vehicle 13 is moved to a preset position. Referring to FIG4(c), the third initial position of the vehicle 13 is set at the opening of the parking space 14, and at a certain distance from the obstacle. When parking, the vehicle 13 needs to move a certain distance to park, so the vehicle 13 is also moved to a preset position. The preset position is set between the side obstacle 10 and the first obstacle 11, or between the side obstacle 10 and the second obstacle 12. The longitudinal coordinate of the preset position can be determined by a preset second collision detection method, and the detection is completed when the longitudinal coordinate of the preset position reaches a safe distance. The preset collision detection methods include a preset first collision detection method and a preset second collision detection method. For example, the preset collision detection method represents the outline of the vehicle as a rectangle, expands the rectangular vehicle outline to different degrees according to different safety distance requirements, and then uses the ray method to perform collision detection on the simulated vehicle on different paths, which can effectively reduce the resource occupancy of the domain controller or cloud.

[0073] Optionally, step 101 specifically includes:

[0074] Sub-step 1011: Obtain obstacle information around the vehicle transmitted by the sensors.

[0075] In this embodiment of the invention, reference is made to Figure 3 As shown, when the vehicle activates the parking function, the sensors arranged on the vehicle 13 will detect obstacles around the vehicle 13 and obtain the obstacle information around the vehicle transmitted by the sensors.

[0076] Sub-step 1012: Cluster the obstacle information to obtain the first obstacle information, the second obstacle information, and the side obstacle information. The parking space is located between the first obstacle represented by the first obstacle information and the second obstacle represented by the second obstacle information.

[0077] In this embodiment of the invention, reference is made to Figure 3As shown, the sensor transmits obstacle information to the domain controller on vehicle 13 or to the cloud for processing. The domain controller or cloud uses FreeSpace and clustering algorithms to filter, select, and cluster the obstacle information to obtain valid obstacle information for the vehicle. Valid obstacle information includes first obstacle information, second obstacle information, and side obstacle information. The first obstacle information represents the first obstacle, the second obstacle information represents the second obstacle, and the side obstacle information represents the side obstacles. The parking space where the vehicle is to be parked is located between the first and second obstacles, with the opening of the parking space facing the side obstacle. A Cartesian coordinate system can be set using the first and second obstacle information to obtain the obstacle points on the first and second obstacles. The coordinates of the obstacle point on the first obstacle are P1(X1, Y1), and the coordinates of the obstacle point on the second obstacle are P2(X2, Y2).

[0078] Step 102: Based on the effective obstacle information and the preset first collision detection method, obtain at least one driving posture information generated when the simulated vehicle in the parking space leaves the parking space.

[0079] In this embodiment of the invention, a simulated vehicle is placed in a parking space, and the simulated vehicle's safe exit path is used as the vehicle's actual entry path. (Refer to...) Figure 3 As shown, a point within the rectangle representing the outline of vehicle 13 is used as a safety detection point, for example, B(X0, Y0). Valid obstacle information includes, for example, the coordinates of the obstacle point of the first obstacle as P1(X1, Y1) and the coordinates of the obstacle point of the second obstacle as P2(X2, Y2). In this application, the simulated vehicle exits from the side of the second obstacle 12, so the coordinates of the obstacle point of the second obstacle, P2(X2, Y2), are primarily used. A preset first collision detection method, for example, involves continuously changing the heading angle of the simulated vehicle to obtain at least one driving posture information generated when the simulated vehicle in the parking space exits the parking space.

[0080] The preset first collision detection method, for example, involves determining whether the simulated vehicle collides with an obstacle when exiting the parking space based on the sum of the distance between the center coordinates of each vehicle's heading angle and the obstacle point P2(X2, Y2) of the second obstacle, and the distance between the safety detection point B and the center coordinates of each vehicle's heading angle, plus a preset safety distance Ssafe. This process also acquires at least one driving posture information. When the distance between the center coordinates of the vehicle's heading angle and the obstacle point P2(X2, Y2) of the second obstacle is less than the sum of the distance between the safety detection point B and the center coordinates of each vehicle's heading angle, plus the preset safety distance Ssafe, the simulated vehicle will not collide with the obstacle when exiting the parking space at that heading angle. When the distance between the center coordinates of the vehicle's heading angle and the obstacle point P2(X2, Y2) of the second obstacle is greater than or equal to the sum of the distance between the safety detection point B and the center coordinates of each vehicle's heading angle, plus the preset safety distance Ssafe, the simulated vehicle will collide with the obstacle when exiting the parking space at that heading angle.

[0081] Optionally, the preset first collision detection method may be, for example, to determine whether the simulated vehicle collides with the obstacle when exiting the parking space by using the distance PB between the safety detection point B and the obstacle point P2 of the second obstacle, as well as a preset safety distance Ssafe, when the heading angle of the simulated vehicle is changed, and to obtain at least one driving posture information. When the distance PB between the safety detection point B and the obstacle point P2 of the second obstacle is greater than the preset safety distance Ssafe, the simulated vehicle will not collide with the obstacle. When the distance PB between the safety detection point B and the obstacle point P2 of the second obstacle is less than or equal to the preset safety distance Ssafe, the simulated vehicle will collide with the obstacle.

[0082] Optionally, step 102 specifically includes:

[0083] Sub-step 1021: Using the first collision detection method, the simulated vehicle leaves the parking space at different heading angles to obtain at least one vehicle heading angle.

[0084] In this embodiment of the invention, at the starting position of the simulated vehicle leaving the parking space, the simulated vehicle is exited from the parking space at different heading angles using the first collision detection method to obtain at least one vehicle heading angle.

[0085] Sub-step 1022: Using the first collision detection method, the simulated vehicle exits the parking space at different heading angles to obtain at least one vehicle heading angle, exit end coordinates, and turning radius.

[0086] In this embodiment of the invention, at the end position of the simulated vehicle leaving the parking space, the simulated vehicle is exited from the parking space at different heading angles using the first collision detection method, and at least one vehicle heading angle, exit end coordinates, and turning radius are obtained.

[0087] Step 103: Based on the effective obstacle information, select the target driving posture information from all the driving posture information. When the simulated vehicle leaves the parking space according to the target driving posture information, it will not collide with the obstacle represented by the effective obstacle information.

[0088] In this embodiment of the invention, reference is made to Figure 3 As shown, target driving posture information is selected from all the driving posture information based on the effective obstacle information. When the simulated vehicle exits the parking space according to the target driving posture information, that is, when the distance between the obstacle point P2(X2, Y2) of the second obstacle and the safety detection point B is greater than or equal to a preset safety distance, it will not collide with the obstacle represented by the effective obstacle information. The target driving posture information includes first exit posture information and second exit posture information. The first exit posture information includes the target heading angle, exit start coordinates, first turning radius, and first center coordinates. The second exit posture information includes the target heading angle, target exit end coordinates, second turning radius, and second center coordinates.

[0089] Optionally, step 103 specifically includes:

[0090] Sub-step 1031: Based on the effective obstacle information, determine the starting coordinates of the simulated vehicle leaving the parking space. The starting coordinates of the vehicle leaving the parking space are located within the parking space and are set at a preset distance from the obstacle represented by the effective obstacle information.

[0091] In this embodiment of the invention, reference is made to Figure 3 As shown, the starting coordinates Ein(Xin, Yin) for the simulated vehicle to exit the parking space are determined based on valid obstacle information. Valid obstacle information includes, for example, obstacle point P1(X1, Y1) of a first obstacle and obstacle point P2(X2, Y2) of a second obstacle, where Y1 is, for example, equal to Y2. The starting coordinates Ein(Xin, Yin) are located within the parking space and are spaced at a preset distance from the obstacles represented by the valid obstacle information. For example, the horizontal coordinate Xin of the starting coordinates is spaced at a preset horizontal distance from X1 and X2, and the vertical coordinate Yin of the starting coordinates is, for example, Y1 / 2.

[0092] Sub-step 1032: Based on the effective obstacle information, select the target heading angle from all the vehicle heading angles. When the simulated vehicle exits the parking space according to the target heading angle, it will not collide with the obstacle represented by the effective obstacle information.

[0093] In this embodiment of the invention, reference is made to Figure 3As shown, based on the effective obstacle information, the target heading angle is selected from all the vehicle heading angles. During the simulated vehicle's exit from the parking space according to the target heading angle, the distance between the obstacle point P2(X2, Y2) of the second obstacle and the safety detection point B is always greater than or equal to a preset safety distance. The heading angle at this point can be selected as the target heading angle. When the simulated vehicle exits the parking space according to the target heading angle, it does not collide with the obstacles represented by the effective obstacle information.

[0094] Sub-step 1033: The extreme turning radius of the vehicle is taken as the first turning radius, and the first center coordinate is obtained according to the target heading angle, the starting coordinate of the exit from the warehouse and the first turning radius. The abscissa of the second center coordinate is the abscissa of the target starting coordinate of the exit from the warehouse.

[0095] In this embodiment of the invention, reference is made to Figure 3 As shown, the vehicle's extreme turning radius is taken as the first turning radius Rmin, and the first center coordinates Ci(Xi, Yi) are obtained based on the target heading angle, the starting coordinates of the exit from the warehouse Ein(Xin, Yin) and the first turning radius Rmin.

[0096] Optionally, step 103 also includes:

[0097] Sub-step 1034: Select the target heading angle from all the vehicle heading angles based on the effective obstacle information.

[0098] In this embodiment of the invention, reference is made to Figure 3 As shown, based on the effective obstacle information, the target heading angle is selected from all the vehicle heading angles. During the simulated vehicle's exit from the parking space according to the target heading angle, the distance between the obstacle point P2 of the second obstacle and the safety detection point B is always greater than or equal to a preset safety distance; the heading angle at this point can be selected as the target heading angle. When the simulated vehicle exits the parking space according to the target heading angle, it does not collide with the obstacles represented by the effective obstacle information.

[0099] Sub-step 1035: Based on the target heading angle, when the x-coordinate of the exit end coordinate and the turning radius satisfy the preset traversal end condition, select the target exit end coordinate and the second turning radius from all the x-coordinates of the exit end coordinates and the turning radii.

[0100] In this embodiment of the invention, reference is made to Figure 3As shown, based on the target heading angle, the turning radius is traversed at different x-coordinates of the exit end coordinates corresponding to the target heading angle until the x-coordinate of the exit end coordinates and the turning radius satisfy a preset traversal end condition. Then, the target exit end coordinate Eout(Xout, Yout) and the second turning radius Rout that satisfy the preset traversal end condition are selected from all the exit end coordinates and the turning radii. Here, the y-coordinate Yout of the exit end coordinate Eout is the y-coordinate of the preset position in step 101. The preset traversal end condition is, for example, that when the simulated vehicle exits the parking space according to the target heading angle, the x-coordinate of the exit end coordinates, and the turning radius, it does not collide with any obstacles, and the path arc formed by the target heading angle, the exit end coordinates, and the turning radius is either far away from or tangent to the path arc formed when the simulated vehicle starts to exit the parking space.

[0101] Sub-step 1036: Based on the target heading angle, the target exit end coordinates, and the second turning radius, obtain the second center coordinates, where the abscissa of the second center coordinates is the abscissa of the target exit end coordinates.

[0102] In this embodiment of the invention, reference is made to Figure 3 As shown, the second center coordinates Cr(Xr, Yr) are obtained based on the target heading angle, the target exit end coordinate Eout(Xout, Yout), and the second turning radius Rout.

[0103] Step 104: Based on the target driving posture information, plan the vehicle's entry path into the parking space.

[0104] In this embodiment of the invention, the vehicle's entry path is planned based on the target driving posture information. The vehicle's entry path includes a first entry path s, a second entry path g, and a third entry path f.

[0105] Optionally, step 104 specifically includes:

[0106] Sub-step 1041: Based on the target heading angle, the starting coordinates of the vehicle leaving the warehouse, the first turning radius, and the coordinates of the first center of the circle, obtain the first arc path of the simulated vehicle when leaving the warehouse, and use the first arc path as the first entry path of the vehicle.

[0107] In this embodiment of the invention, reference is made to Figure 3As shown, based on the target heading angle, the starting coordinates of the exit from the parking space Ein(Xin, Yin), the first turning radius Rmin, and the first center coordinates Ci(Xi, Yi), a first circular arc path is obtained for simulating the vehicle's exit from the parking space. This first circular arc path is then used as the vehicle's first entry path s. The center coordinates of the first circular arc path are the first center coordinates Ci(Xi, Yi), the radius of the first arc is the first turning radius Rmin, and the starting point of the arc is the starting coordinates of the exit from the parking space Ein(Xin, Yin).

[0108] Sub-step 1042: Based on the target heading angle, the target exit coordinates, the second turning radius, and the second center coordinates, obtain the second arc path of the simulated vehicle when exiting the warehouse, and use the second arc path as the second entry path of the vehicle.

[0109] In this embodiment of the invention, reference is made to Figure 3 As shown, based on the target heading angle, the target exit end coordinate Eout(Xout, Yout), the second turning radius Rout, and the second center coordinate Cr(Xr, Yr), the second arc path of the simulated vehicle exiting the parking space is obtained, and the second arc path is used as the vehicle's second entry path g. Wherein, the center coordinate of the second arc is the second center coordinate Cr(Xr, Yr), the radius of the second arc is the entry turning radius Rout, and the starting point of the arc is the target exit end coordinate Eout(Xout, Yout).

[0110] Sub-step 1043: Based on the first inbound path and the second inbound path, obtain a straight path, wherein the straight path is tangent to both the first inbound path and the second inbound path.

[0111] In this embodiment of the invention, reference is made to Figure 3 As shown, a straight path is obtained based on the first inbound path s and the second inbound path g, and the straight path is tangent to both the first inbound path s and the second inbound path g. Because the straight path is tangent to both the first inbound path s and the second inbound path g, the slope of the straight path can be obtained. Furthermore, the straight path passes through the first tangency point and the second tangency point where it intersects the first inbound path s and the second inbound path g, so the expression of the straight path can be determined, thereby determining the straight path.

[0112] Sub-step 1044: Determine the third entry path based on the first and second tangent points where the straight path intersects the first and second arcs, respectively. The length of the third entry path is the distance between the first and second tangent points.

[0113] In this embodiment of the invention, the straight path intersects and is tangent to both the first inbound path s and the second inbound path g, and the first tangent point and the second tangent point are obtained. The line segment between the first tangent point and the second tangent point is the third inbound path f, and the length of the third inbound path f is equal to the distance between the first tangent point and the second tangent point.

[0114] Step 105: Control the vehicle to enter the parking space according to the entry path.

[0115] In this embodiment of the invention, reference is made to Figure 3 As shown, according to the parking path, vehicle 13 is controlled to enter parking space 14. The parking paths are the second parking path g, the third parking path f, and the first parking path s. After entering the parking space, vehicle 13 can adjust its position by continuously changing gears to perform a parking maneuver until parking is complete. The above embodiment uses parking from obstacle point P2(X2, Y2) of the second obstacle 12. If parking is to be done from obstacle point P1(X1, Y1) of the first obstacle 11, the parking path from obstacle point P2(X2, Y2) of the second obstacle 12 can be mirrored to obtain the parking path from obstacle point P1(X1, Y1) of the first obstacle 11. Because during the crash test, vehicle 13 is viewed as a rectangle, the parking path is the same whether the vehicle 13 is parked in the direction of its front or in the direction of its parking space.

[0116] In summary, in this embodiment, by acquiring effective obstacle information of the vehicle and, based on the effective obstacle information and a preset first collision detection method, acquiring at least one driving posture information generated when the simulated vehicle in the parking space exits the parking space, and selecting a target driving posture information from all the driving posture information based on the effective obstacle information, the vehicle's parking path is planned according to the target driving posture information, thereby controlling the vehicle to enter the parking space according to the parking path. This invention, by setting a simulated vehicle in the parking space and simulating the vehicle's exit path, obtains the vehicle's parking path, effectively avoiding the problem of collisions between the vehicle and obstacles during parking, improving the accuracy and efficiency of vehicle parking, reducing the risk of collisions or jamming during parking, and improving the user experience. Furthermore, this invention, through a collision detection method, acquires multiple driving posture information of the simulated vehicle exiting the parking space, and obtains the parking path by traversing multiple driving posture information, which has low dependence on the accuracy of obstacle detection, continuous parking path planning, low computational load, and reduced resource consumption.

[0117] Figure 5This is a block diagram of a vehicle parking device provided in an embodiment of the present invention, with reference to... Figure 5 As shown, the device 400 includes:

[0118] The obstacle information acquisition module 401 is used to acquire valid obstacle information of the vehicle, wherein the valid obstacle information is used to characterize the position of obstacles around the parking space where the vehicle is to be parked.

[0119] The pose information acquisition module 402 is used to acquire at least one driving pose information generated when a simulated vehicle in the parking space leaves the parking space, based on the effective obstacle information and a preset first collision detection method.

[0120] The target pose information acquisition module 403 is used to select target driving pose information from all the driving pose information based on the effective obstacle information, so that when the simulated vehicle leaves the parking space according to the target driving pose information, it does not collide with the obstacle represented by the effective obstacle information.

[0121] The inbound path planning module 404 is used to plan the inbound path of the vehicle based on the target driving posture information.

[0122] The entry control module 405 is used to control the vehicle to enter the parking space according to the entry path.

[0123] Optionally, the obstacle information acquisition module 401 includes:

[0124] An obstacle information acquisition submodule is used to acquire obstacle information around the vehicle transmitted by sensors;

[0125] The clustering submodule is used to perform clustering processing on the obstacle information to obtain the first obstacle information, the second obstacle information, and the side obstacle information, wherein the parking space is located between the first obstacle represented by the first obstacle information and the second obstacle represented by the second obstacle information.

[0126] Optionally, the pose information acquisition module 402 includes:

[0127] The first collision detection submodule is used to exit the parking space with different heading angles using the first collision detection method, and obtain at least one vehicle heading angle.

[0128] The second collision detection submodule is used to use the first collision detection method to exit the parking space with different heading angles and obtain at least one vehicle heading angle, exit end coordinates and turning radius.

[0129] Optionally, the target pose information acquisition module 403 includes:

[0130] The exit start coordinate acquisition submodule is used to determine the exit start coordinate of the simulated vehicle based on the effective obstacle information. The exit start coordinate is located within the parking space and is set at a preset distance from the obstacle represented by the effective obstacle information.

[0131] The first target heading angle acquisition submodule is used to select the target heading angle from all the vehicle heading angles based on the effective obstacle information, so that when the simulated vehicle leaves the parking space according to the target heading angle, it does not collide with the obstacle represented by the effective obstacle information.

[0132] The first circle center coordinate acquisition submodule is used to take the vehicle's extreme turning radius as the first turning radius, and obtain the first circle center coordinate based on the target heading angle, the exit starting coordinate, and the first turning radius. The abscissa of the second circle center coordinate is the abscissa of the target exit starting coordinate.

[0133] Optionally, the target pose information acquisition module 403 also includes:

[0134] The second target heading angle acquisition submodule is used to select the target heading angle from all the vehicle heading angles based on the effective obstacle information;

[0135] The traversal submodule is used to select the target exit coordinate and the second turning radius from all the x-coordinates of the exit coordinates and the turning radius, based on the target heading angle, when the x-coordinate of the exit end coordinate and the turning radius meet the preset traversal end condition.

[0136] The second center coordinate acquisition submodule is used to acquire the second center coordinate based on the target heading angle, the target exit end coordinate, and the second turning radius, wherein the abscissa of the second center coordinate is the abscissa of the target exit end coordinate.

[0137] Optionally, the inbound path planning module 404 includes:

[0138] The first entry path acquisition submodule is used to acquire the first arc path of the simulated vehicle when it leaves the warehouse based on the target heading angle, the exit starting coordinates, the first turning radius and the first center coordinates, and use the first arc path as the first entry path of the vehicle.

[0139] The second entry path acquisition submodule is used to acquire the second arc path of the simulated vehicle when it leaves the warehouse based on the target heading angle, the target exit end coordinates, the second turning radius and the second center coordinates, and to use the second arc path as the second entry path of the vehicle.

[0140] A straight path acquisition submodule is used to acquire a straight path based on the first inbound path and the second inbound path, wherein the straight path is tangent to both the first inbound path and the second inbound path.

[0141] The third entry path acquisition submodule is used to determine the third entry path based on the first and second tangent points where the straight path intersects the first and second arcs. The length of the third entry path is the distance between the first and second tangent points.

[0142] In summary, in this embodiment, by acquiring effective obstacle information of the vehicle and, based on the effective obstacle information and a preset first collision detection method, acquiring at least one driving posture information generated when the simulated vehicle in the parking space exits the parking space, and selecting a target driving posture information from all the driving posture information based on the effective obstacle information, the vehicle's parking path is planned according to the target driving posture information, thereby controlling the vehicle to enter the parking space according to the parking path. This invention, by setting a simulated vehicle in the parking space and simulating the vehicle's exit path, obtains the vehicle's parking path, effectively avoiding the problem of collisions between the vehicle and obstacles during parking, improving the accuracy and efficiency of vehicle parking, reducing the risk of collisions or jamming during parking, and improving the user experience. Furthermore, this invention, through a collision detection method, acquires multiple driving posture information of the simulated vehicle exiting the parking space, and obtains the parking path by traversing multiple driving posture information, which has low dependence on the accuracy of obstacle detection, continuous parking path planning, low computational load, and reduced resource consumption.

[0143] This application also provides a vehicle that includes the parking device for the vehicle as described above, to implement the steps of the parking method for the vehicle as described above.

[0144] Figure 6 This is a block diagram illustrating an electronic device 600 according to an exemplary embodiment. For example, the electronic device 600 may be a mobile phone, computer, digital broadcasting terminal, messaging device, game console, tablet device, medical device, fitness equipment, personal digital assistant, etc.

[0145] Reference Figure 6 The electronic device 600 may include one or more of the following components: a processing component 602, a memory 604, a power supply component 606, a multimedia component 608, an audio component 610, an input / output (I / O) interface 612, a sensor component 614, and a communication component 616.

[0146] Processing component 602 typically controls the overall operation of electronic device 600, such as operations associated with display, telephone calls, data communication, camera operation, and recording operations. Processing component 602 may include one or more processors 620 to execute instructions to perform all or part of the steps of the methods described above. Furthermore, processing component 602 may include one or more modules to facilitate interaction between processing component 602 and other components. For example, processing component 602 may include a multimedia module to facilitate interaction between multimedia component 608 and processing component 602.

[0147] Memory 604 is used to store various types of data to support the operation of electronic device 600. Examples of such data include instructions for any application or method operating on electronic device 600, contact data, phonebook data, messages, pictures, multimedia, etc. Memory 604 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0148] Power supply component 606 provides power to various components of electronic device 600. Power supply component 606 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to electronic device 600.

[0149] Multimedia component 608 includes a screen that provides an output interface between the electronic device 600 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touchscreen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors may sense not only the boundaries of touch or swipe actions but also the duration and pressure associated with the touch or swipe operation. In some embodiments, multimedia component 608 includes a front-facing camera and / or a rear-facing camera. When the electronic device 600 is in an operating mode, such as a shooting mode or a multimedia mode, the front-facing camera and / or the rear-facing camera may receive external multimedia data. Each front-facing camera and rear-facing camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

[0150] Audio component 610 is used to output and / or input audio signals. For example, audio component 610 includes a microphone (MIC) used to receive external audio signals when electronic device 600 is in an operating mode, such as call mode, recording mode, and voice recognition mode. The received audio signals may be further stored in memory 604 or transmitted via communication component 616. In some embodiments, audio component 610 also includes a speaker for outputting audio signals.

[0151] I / O interface 612 provides an interface between processing component 602 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to, home buttons, volume buttons, power buttons, and lock buttons.

[0152] Sensor assembly 614 includes one or more sensors for providing state assessments of various aspects of electronic device 600. For example, sensor assembly 614 can detect the on / off state of electronic device 600, the relative positioning of components such as the display and keypad of electronic device 600, changes in position of electronic device 600 or a component of electronic device 600, the presence or absence of user contact with electronic device 600, orientation or acceleration / deceleration of electronic device 600, and temperature changes of electronic device 600. Sensor assembly 614 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 614 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, sensor assembly 614 may also include an accelerometer, gyroscope, magnetometer, pressure sensor, or temperature sensor.

[0153] Communication component 616 facilitates wired or wireless communication between electronic device 600 and other devices. Electronic device 600 can access wireless networks based on communication standards, such as WiFi, carrier networks (such as 2G, 3G, 4G, or 5G), or combinations thereof. In one exemplary embodiment, communication component 616 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, communication component 616 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0154] In an exemplary embodiment, the electronic device 600 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to implement a vehicle parking method provided in this application embodiment.

[0155] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 604 including instructions, which can be executed by a processor 620 of an electronic device 600 to perform the above-described method. For example, the non-transitory storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0156] Figure 7 This is a block diagram illustrating an electronic device 700 according to an exemplary embodiment. For example, the electronic device 700 may be provided as a service message receiver. (Refer to...) Figure 7 The electronic device 700 includes a processing component 722, which further includes one or more processors, and memory resources represented by a memory 732 for storing instructions, such as application programs, that can be executed by the processing component 722. The application programs stored in the memory 732 may include one or more modules, each corresponding to a set of instructions. Furthermore, the processing component 722 is configured to execute instructions to perform a vehicle parking method provided in embodiments of this application.

[0157] Electronic device 700 may also include a power supply component 726 configured to perform power management of electronic device 700, a wired or wireless network interface 750 configured to connect electronic device 700 to a network, and an input / output (I / O) interface 758. Electronic device 700 may operate on an operating system stored in memory 732, such as Windows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™, or similar.

[0158] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the claims.

[0159] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A method for parking a vehicle in a parking space, characterized in that, include: Obtain valid obstacle information for the vehicle, wherein the valid obstacle information is used to characterize the position of obstacles around the parking space where the vehicle is to be parked; The effective obstacle information includes second obstacle information; The simulated vehicle exits the parking space from the side of the second obstacle; Based on the effective obstacle information and the preset first collision detection method, at least one driving posture information generated when the simulated vehicle in the parking space leaves the parking space is obtained. Based on the effective obstacle information, a target driving posture information is selected from all the driving posture information. When the simulated vehicle leaves the parking space according to the target driving posture information, it does not collide with the obstacle represented by the effective obstacle information. Based on the target driving posture information, plan the vehicle's entry path into the parking space; Control the vehicle to enter the parking space according to the entry path; The target driving pose information includes first exit pose information, which includes target heading angle, exit starting coordinates, first turning radius, and first center coordinates; the step of obtaining at least one driving pose information generated when the simulated vehicle in the parking space exits the parking space based on the effective obstacle information and a preset first collision detection method includes: Using the first collision detection method, the simulated vehicle exits the parking space at different heading angles to obtain at least one vehicle heading angle; a point of the rectangle representing the vehicle outline is used as a safety detection point; the preset first collision detection method is to determine whether the simulated vehicle collides with the obstacle when exiting the parking space by using the distance between the safety detection point and the obstacle point of the second obstacle and a preset safety distance when changing the heading angle of the simulated vehicle. The step of selecting target driving posture information from all the driving posture information based on the effective obstacle information, and ensuring that the simulated vehicle does not collide with the obstacle represented by the effective obstacle information when exiting the parking space according to the target driving posture information, includes: Based on the effective obstacle information, the starting coordinates for the simulated vehicle to leave the parking space are determined. The starting coordinates for leaving the parking space are located within the parking space and are set at a preset distance from the obstacle represented by the effective obstacle information. Based on the effective obstacle information, the target heading angle is selected from all the vehicle heading angles. When the simulated vehicle exits the parking space according to the target heading angle, it does not collide with the obstacle represented by the effective obstacle information. The vehicle's maximum turning radius is taken as the first turning radius, and the first center coordinate is obtained based on the target heading angle, the starting coordinate of the exit, and the first turning radius. The abscissa of the first center coordinate is the abscissa of the starting coordinate of the exit.

2. The method for parking a vehicle according to claim 1, characterized in that, The effective obstacle information also includes first obstacle information and lateral obstacle information. The acquisition of the vehicle's effective obstacle information, which characterizes the position of obstacles surrounding the parking space where the vehicle is to be parked, includes: Acquire obstacle information around the vehicle transmitted by the sensors; The obstacle information is clustered to obtain the first obstacle information, the second obstacle information, and the side obstacle information. The parking space is located between the first obstacle represented by the first obstacle information and the second obstacle represented by the second obstacle information.

3. The method for parking a vehicle according to claim 1, characterized in that, The entry path includes a first entry path, and the step of planning the vehicle's entry path based on the target driving pose information includes: Based on the target heading angle, the starting coordinates of the vehicle exiting the warehouse, the first turning radius, and the first center coordinates, the first arc path of the simulated vehicle exiting the warehouse is obtained, and the first arc path is used as the first entry path of the vehicle; the center coordinates of the first arc path are the first center coordinates, the radius of the first arc is the first turning radius, and the starting point of the arc is the starting coordinates of the vehicle exiting the warehouse.

4. The method for parking a vehicle according to claim 1, characterized in that, The target driving posture information includes the second exit posture information, which includes the target heading angle, the target exit end coordinates, the second turning radius, and the second center coordinates. The step of obtaining at least one driving posture information of a simulated vehicle in the parking space when it leaves the parking space, based on the effective obstacle information and a preset first collision detection method, includes: Using the first collision detection method, the simulated vehicle exits the parking space at different heading angles to obtain at least one vehicle heading angle, exit end coordinates, and turning radius; The step of selecting target driving posture information from all the driving posture information based on the effective obstacle information, and ensuring that the simulated vehicle does not collide with the obstacle represented by the effective obstacle information when exiting the parking space according to the target driving posture information, includes: Based on the effective obstacle information, the target heading angle is selected from all the vehicle heading angles; Based on the target heading angle, when the x-coordinate of the exit end coordinate and the turning radius satisfy the preset traversal end condition, the target exit end coordinate and the second turning radius are selected from all the x-coordinates of the exit end coordinates and the turning radii. Based on the target heading angle, the target exit end coordinates, and the second turning radius, the second center coordinates are obtained, and the x-coordinate of the second center coordinates is the x-coordinate of the target exit end coordinates.

5. A method for parking a vehicle according to claim 4, characterized in that, The entry path includes a second entry path, and the step of planning the vehicle's entry path based on the target driving pose information includes: Based on the target heading angle, the target exit end coordinates, the second turning radius, and the second center coordinates, the second arc path of the simulated vehicle exiting the warehouse is obtained, and the second arc path is used as the second entry path of the vehicle; the center coordinates of the second arc are the second center coordinates, the radius of the second arc is the entry turning radius, and the starting point of the arc is the target exit end coordinates.

6. A method for parking a vehicle according to claim 1, characterized in that, The entry path includes a first entry path, a second entry path, and a third entry path. The step of planning the vehicle's entry path based on the target driving pose information further includes: Based on the first inbound path and the second inbound path, a straight path is obtained, wherein the straight path is tangent to both the first inbound path and the second inbound path; The third entry path is determined based on the first and second tangent points where the straight path intersects the first entry path and the second entry path. The length of the third entry path is the distance between the first and second tangent points.

7. A vehicle parking device, applied to the vehicle parking method as described in claim 1, characterized in that, include: An obstacle information acquisition module is used to acquire valid obstacle information of the vehicle, wherein the valid obstacle information is used to characterize the position of obstacles around the parking space where the vehicle is to be parked; The effective obstacle information includes second obstacle information; The simulated vehicle exits the parking space from the side of the second obstacle; The pose information acquisition module is used to acquire at least one driving pose information generated when a simulated vehicle in the parking space leaves the parking space, based on the effective obstacle information and a preset first collision detection method. The target pose information acquisition module is used to select target driving pose information from all the driving pose information based on the effective obstacle information, so that when the simulated vehicle leaves the parking space according to the target driving pose information, it does not collide with the obstacle represented by the effective obstacle information. The inbound path planning module is used to plan the inbound path of the vehicle based on the target driving pose information. The entry control module is used to control the vehicle to enter the parking space according to the entry path; The pose information acquisition module includes: The first collision detection submodule is used to obtain at least one vehicle heading angle by having the simulated vehicle exit the parking space at different heading angles using the first collision detection method; and to use a point of the rectangle representing the vehicle outline as a safety detection point; the preset first collision detection method is to determine whether the simulated vehicle collides with the obstacle when exiting the parking space by using the distance between the safety detection point and the obstacle point of the second obstacle and a preset safety distance when changing the heading angle of the simulated vehicle. The second collision detection submodule is used to use the first collision detection method to make the simulated vehicle leave the parking space at different heading angles, and to obtain at least one vehicle heading angle, exit end coordinates and turning radius. The target pose information acquisition module includes: The exit start coordinate acquisition submodule is used to determine the exit start coordinate of the simulated vehicle based on the effective obstacle information. The exit start coordinate is located within the parking space and is set at a preset distance from the obstacle represented by the effective obstacle information. The first target heading angle acquisition submodule is used to select the target heading angle from all the vehicle heading angles based on the effective obstacle information, so that when the simulated vehicle leaves the parking space according to the target heading angle, it does not collide with the obstacle represented by the effective obstacle information. The first center coordinate acquisition submodule is used to take the vehicle's extreme turning radius as the first turning radius, and to acquire the first center coordinate based on the target heading angle, the exit starting coordinate, and the first turning radius. The abscissa of the first center coordinate is the abscissa of the exit starting coordinate.

8. An electronic device, characterized in that, It includes a processor and a memory, the memory storing a program or instructions that can run on the processor, the program or instructions being executed by the processor to implement the steps of the parking method for a vehicle as described in any one of claims 1 to 6.

9. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the parking method for a vehicle as described in any one of claims 1 to 6.

10. A vehicle, characterized in that, The vehicle parking device as described in claim 7 is included to implement the steps of the vehicle parking method as described in any one of claims 1 to 6.

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