Parking method, electronic device and storage medium

Abstract

The present application relates to the field of parking technology, and discloses a parking method based on drones, an electronic device, and a storage medium. The parking method includes: performing parking space detection on a target area based on a drone; wherein the parking space includes a lined parking space and a space parking space; when a parking space is detected, controlling the drone to perform obstacle position detection on the corresponding detection area at different preset detection positions in the length direction of the parking space; wherein the parking space and the surrounding area of ​​the parking space are divided into multiple detection areas in the length direction of the parking space; if the position of the detected obstacle matches the preset position, parking planning is performed based on the position information of the obstacle. Therefore, the present application can fully and accurately understand the obstacle position information in and around the parking space by detecting the corresponding detection area at different preset detection positions in the length direction of the parking space, thereby improving the safety of parking when assisting parking based on the obstacle position information.

Description

Technical Field

[0001] The present application relates to the field of parking technology, and in particular to a parking method, an electronic device and a storage medium. Background Art

[0002] At present, new energy vehicles are developing towards digitalization and intelligence, and assisted driving technology brings users a convenient driving experience. Automatic parking is an important part of assisted driving technology. It detects parking space information through sensors such as on-board ultrasonic radar and surround view cameras, identifies parking space attributes and controls the vehicle to park in the parking space.

[0003] At present, automatic parking technology has problems with perception anomalies, such as false detection or missed detection of parking spaces and surrounding obstacle information, which brings difficulties to planning and control, and then leads to parking failure. Although there are applications of drone-assisted parking in the existing technology, there are still problems such as poor detection effect and easy collision with obstacles, resulting in low parking safety. Summary of the invention

[0004] In view of the above problems, the present application provides a parking method, an electronic device and a storage medium, which can comprehensively and accurately understand the obstacle location information in and around the parking space, thereby improving the safety of parking when assisted parking is performed based on the obstacle location information.

[0005] A first aspect of the present application provides a parking method based on a drone, the parking method comprising: performing parking space detection on a target area based on a drone; wherein the parking spaces include marked parking spaces and space parking spaces; when a parking space is detected, controlling the drone to different preset detection positions in the length direction of the parking space, and performing obstacle position detection on the corresponding detection area; wherein the parking space and the surrounding area of ​​the parking space are divided into multiple detection areas in the length direction of the parking space; if the detected position of the obstacle matches the preset position, parking planning is performed based on the position information of the obstacle.

[0006] In some specific embodiments, the step of controlling the drone to move to different preset detection positions in the length direction of the parking space and detecting the positions of obstacles in corresponding detection areas includes: controlling the drone to move to the foremost preset detection position, and detecting the positions of obstacles in the foremost detection area corresponding to the foremost preset detection position; wherein the foremost preset detection position is the preset detection position farthest from the bottom in the direction from the bottom to the top of the parking space; and controlling the drone to move backward in the length direction of the parking space to detect the detection area behind the foremost detection area.

[0007] In some specific embodiments, the step of controlling the drone to move to the foremost preset detection position and detecting the position of obstacles in the foremost detection area corresponding to the foremost preset detection position includes: controlling the drone to move to directly above the corner point position at the top of the parking space; wherein the corner point position includes the left corner point position and the right corner point position; and detecting the position of obstacles in the area directly in front and the area in front of the side of the parking space by using the drone.

[0008] In some specific embodiments, the step of controlling the drone to move backward in the length direction of the parking space to detect the detection area behind the frontmost detection area includes: controlling the drone to move backward a first preset distance above a preset route of the parking space, and detecting the position of obstacles on both side areas in the width direction of the parking space during the movement; wherein the distance between the preset route and the central axis of the parking space in the width direction of the parking space is less than the preset distance; controlling the depression angle of the drone's radar to be adjusted to a preset angle range to detect whether the parking space has a ground lock in the preset area in its length direction.

[0009] In some specific embodiments, after the step of controlling the depression angle of the drone's radar to be adjusted to a preset angle range to detect whether there is a ground lock in a preset area of ​​the parking space in its length direction, the method includes: controlling the drone to move above a preset route to be located above the bottom of the parking space; controlling the drone to rotate, and during the rotation process, detecting the position of obstacles in the area directly behind and to the side and rear of the parking space.

[0010] In some specific embodiments, after the step of controlling the depression angle of the drone's radar to be adjusted to a preset angle range to detect whether there is a ground lock in a preset area in the length direction of the parking space, the step also includes: if a ground lock is detected in the preset area, controlling the drone to move backward a second preset distance in the length direction of the parking space, and obtaining image information and height information of the ground lock; obtaining the type information of the ground lock based on the image information, and determining the switch state of the ground lock based on the type information and the height information.

[0011] In some specific embodiments, if the detected position of the obstacle matches the preset position, then after the step of performing parking planning based on the position information of the obstacle, it also includes: controlling the vehicle to park, and controlling the drone to be located at a preset hovering position or to move with the vehicle to detect the position of obstacles in the surrounding area of ​​the parking space; if it is detected that the distance between the vehicle and the obstacle is less than the preset distance, an early warning message is generated for early warning.

[0012] In some specific embodiments, after the step of controlling the drone to be located at a preset position or to follow the movement of the vehicle to detect the position of obstacles in the surrounding area of ​​the parking space, the method includes: obtaining the posture information of the vehicle; wherein the posture information includes the positional relationship between the vehicle and the parking space; when it is obtained based on the posture information that the vehicle is in a straightened state, the drone is controlled to move to above the bottom of the parking space to detect the position of obstacles in the area directly behind and to the side and rear of the parking space.

[0013] A second aspect of the present application provides an electronic device, comprising: a processor; and a memory for storing a computer program, wherein when the computer program is executed by the processor, any one of the above-mentioned parking methods is implemented.

[0014] A third aspect of the present application provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, any of the above-mentioned parking methods is implemented.

[0015] The present application has at least the following beneficial technical effects: Based on the parking method, electronic device and storage medium based on drone provided by the present application, the parking method includes: performing parking space detection on the target area based on drone; wherein the parking space includes a lined parking space and a space parking space; when the parking space is detected, the drone is controlled to detect the position of obstacles in the corresponding detection area at different preset detection positions in the length direction of the parking space; wherein the parking space and the surrounding area of ​​the parking space are divided into multiple detection areas in the length direction of the parking space; if the position of the detected obstacle matches the preset position, parking planning is performed based on the position information of the obstacle. Therefore, the present application can fully and accurately understand the position information of obstacles in and around the parking space by detecting the corresponding detection area at different preset detection positions in the length direction of the parking space, thereby improving the safety of parking when assisting parking based on the obstacle position information.

[0016] The above description is only an overview of the technical solution of the embodiment of the present application. In order to more clearly understand the technical means of the embodiment of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiment of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present application. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings. In the accompanying drawings:

[0018] Figure 1 is a flow chart of an embodiment of a parking method based on a drone provided in the present application;

[0019] Figure 2 It is a schematic diagram of the division of the detection area;

[0020] Figure 3 is a flow chart of another embodiment of the vehicle parking method provided by the present application;

[0021] Figure 4 is a flow chart of another embodiment of the vehicle parking method provided by the present application;

[0022] Figure 5 It is a schematic diagram of the relationship between the vehicle, the parking space and the obstacles;

[0023] Figure 6 is a flow chart of another embodiment of the vehicle parking method provided by the present application;

[0024] Figure 7 is a flow chart of another embodiment of the vehicle parking method provided by the present application;

[0025] Figure 8 is a flow chart of another embodiment of the vehicle parking method provided by the present application;

[0026] Fig. 9 is a flow chart of another embodiment of the vehicle parking method provided by the present application;

[0027] Fig.10 is a flow chart of another embodiment of the vehicle parking method provided by the present application;

[0028] Fig.11 It is a schematic diagram of the structural framework of an embodiment of the electronic device provided by the present application;

[0029] Fig.12 It is a schematic diagram of the structural framework of an embodiment of the computer-readable storage medium provided by the present application. DETAILED DESCRIPTION

[0030] Here, exemplary embodiments will be described in detail, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0031] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0032] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0033] The term "multiple" as used in this application refers to two or more than two. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the related objects are in an "or" relationship.

[0034] In a first aspect, the present application provides a parking method based on a drone, which is applied to a vehicle equipped with a vehicle-mounted drone. Based on the application of the method, the vehicle can fully and accurately understand the location information of obstacles in and around the parking space, thereby improving the safety of parking when assisting parking based on the obstacle location information.

[0035] Figure 1 It is a flow chart of an embodiment of the parking method based on drone provided by the present application. It should be understood that the execution subject of the method steps shown below is the vehicle, combined with Figure 1 , the method comprises the following steps:

[0036] S11: Perform parking space detection in the target area based on the drone; wherein the parking spaces include marked parking spaces and space parking spaces.

[0037] Specifically, the target area can be an area within a preset radius with the vehicle as the center point. Based on the parking space detection of the target area by the drone, it can be detected whether there is an available parking space in the target area for the current vehicle to park. Among them, the lined parking space is a standard parking space with parking space lines drawn, and the space parking space is not lined but can be used for parking.

[0038] Among them, the vehicle can be equipped with a drone-assisted parking function. When the user needs to park, the function can be activated by inputting the corresponding command. Under this function, the vehicle can park automatically. Alternatively, the user can park manually and only use this function to assist.

[0039] In some specific application scenarios, when the vehicle starts the drone assisted parking function, the target area can be determined in a preset manner. At this time, the drone will fly out of the vehicle's nest to enable the drone to detect the parking space in the target area.

[0040] In order to ensure the normal application of this method, before this step, that is, before using the drone to detect parking spaces in the target area, the drone can be self-checked. Only when it is detected that the drone is not faulty, the parking space detection of the target area will be performed based on the drone. If a fault is detected in the drone, an audible and visual alarm can be issued through a large screen, instrument, etc., and the application of drone-assisted parking will be abandoned.

[0041] S12: When a parking space is detected, the drone is controlled to move to different preset detection positions in the length direction of the parking space to detect the positions of obstacles in the corresponding detection areas; wherein the parking space and the surrounding areas of the parking space are divided into multiple detection areas in the length direction of the parking space.

[0042] It should be understood that when there may be multiple parking spaces in the target area, when the drone detects multiple parking spaces, one of the parking spaces can be selected according to the preset rules to perform obstacle position detection in the subsequent process. For example, the parking space closest to the vehicle can be selected as the target parking space, and the obstacle position detection can be further performed on the target parking space.

[0043] For the preset detection position, a determination rule of the detection position may be preset. After the parking space is detected, the preset detection position of the parking space in its length direction can be obtained according to the parking space information such as the shape and size of the parking space and the determination rule. Therefore, the preset detection position obtained may be different based on different parking space types and sizes.

[0044] For the length direction of the parking space, for a rectangular parking space, the length direction of the parking space is the long side direction of the rectangular parking space. For a non-rectangular parking space, the length direction of the parking space can be determined by a preset rule. For example, the parking area occupied by the vehicle after parking can be predicted, and the length direction of the parking area is used as the length direction of the parking space.

[0045] It should be understood that under the premise of ensuring accurate detection, the detection area of ​​the drone is limited, so it is necessary to divide the parking space and the surrounding area of ​​the parking space into detection areas for further zone detection.

[0046] Figure 2 It is a schematic diagram of the division of the detection area.

[0047] Combination Figure 2 , the solid line frame area represents the parking space, and the area between the dotted line frame and the solid line frame represents the surrounding area of ​​the parking space. Among them, the determination rules of the surrounding area of ​​the parking space can be preset. Figure 2 This only shows one way of setting up the area around the parking space, and it is not a limitation.

[0048] The length direction of the parking space is d, and the parking space and the surrounding area of ​​the parking space are divided into five areas A, B, C, D, and E in the length direction d of the parking space, representing five detection areas. Figure 2 This merely shows a setting method of the detection area and is not intended to be limiting.

[0049] It should be understood that Figure 2 The five detection areas shown in the figure do not overlap. It is worth noting that the detection areas divided in the length direction of the parking space can be non-overlapping or partially overlapping, which can be set according to the specific application situation.

[0050] The preset detection positions and detection areas are arranged in the length direction of the parking space, and there is a corresponding relationship between the preset detection positions and the detection areas, so that when the drone is located at the preset detection position, it will perform position detection on the corresponding detection area. For the corresponding relationship between the preset detection positions and the detection areas, one preset detection position may correspond to one detection area, or multiple preset detection positions may correspond to one detection area.

[0051] As for the positional relationship between the preset detection positions and the detection area, it can be that the preset detection positions corresponding to the detection area are all located in the detection area (including the edge positions of the detection area).

[0052] Of course, the correspondence and position relationship between the preset detection position and the detection area are not limited to the above-mentioned setting method, and can be set according to actual application scenarios and requirements.

[0053] S13: If the detected position of the obstacle matches the preset position, parking planning is performed based on the position information of the obstacle.

[0054] The preset position is a preset range of arrangement positions of obstacles, under which the obstacles will not have a significant impact on the parking of the vehicle, and the vehicle can park well. For example, the preset position may be that the position of the obstacle inside the parking space is within the preset position range, and the distance between the obstacle outside the parking space and the parking space is greater than the preset distance.

[0055] When the detected obstacle position matches the preset position, it means that the obstacle will not have a significant impact on the vehicle and the vehicle can be parked in the parking space. At this time, parking planning can be performed based on the obstacle position information.

[0056] Parking planning is performed based on the location information of obstacles, that is, the location of obstacles outside the parking space needs to be taken into account during the parking planning process to plan a more suitable parking route and plan the specific placement of the vehicle in the parking space after it is parked. Among them, after parking planning, parking planning information can be formed to provide reference to the driver for manual parking. In automatic parking, the vehicle can automatically park based on the parking plan.

[0057] Figure 3FIG. 1 is a flow chart of another embodiment of the vehicle parking method provided by the present application. Figure 3 In some specific embodiments, the step of controlling the drone to detect obstacles at different preset detection positions in the length direction of the parking space, i.e., the above-mentioned step S12, includes:

[0058] S21: Control the drone to move to the frontmost preset detection position, and perform obstacle position detection on the frontmost detection area corresponding to the frontmost preset detection position; wherein the frontmost preset detection position is the preset detection position farthest from the bottom in the direction from the bottom to the top of the parking space.

[0059] It should be understood that there are multiple preset detection positions in the length direction of the parking space, and the frontmost preset detection position is set corresponding to the frontmost detection area, so that when the drone is at the frontmost preset detection position, it can detect the frontmost detection area. When the parking space is detected, the bottom position and the top position of the parking space can be determined according to the parking demand. The direction from the bottom to the top of the parking space is the direction from the bottom of the parking space to the top of the parking space, which is parallel to the length direction of the parking space.

[0060] Since the front position of a parking space generally determines whether a vehicle can be parked in the parking space, the present embodiment first performs detection at the frontmost preset position, thereby avoiding unnecessary detection due to the front position of the parking space not meeting the parking conditions.

[0061] S22: Control the drone to move backward in the length direction of the parking space to detect the detection area behind the frontmost detection area.

[0062] After the detection of the most forward position is completed, this step controls the drone to move backward in the length direction of the parking space so that the drone is located at the preset detection position behind the most forward preset detection position in sequence, and then detects the subsequent detection areas in sequence, and then detects the detection area behind the most forward detection area at different preset detection positions.

[0063] It should be understood that by performing detection in sequence from front to back in the length direction of the parking space, detection can be abandoned when it is detected that the parking space does not meet the parking conditions, thereby avoiding unnecessary detection and improving the detection efficiency before parking.

[0064] Figure 4 FIG. 1 is a flow chart of another embodiment of the vehicle parking method provided by the present application. Figure 4 In some specific embodiments, the step of controlling the drone to move to the frontmost preset detection position and performing obstacle position detection on the frontmost detection area corresponding to the frontmost preset detection position, i.e., the above-mentioned step S21, includes:

[0065] S31: Control the drone to move to the top of the corner point of the parking space; wherein the corner point includes a left corner point and a right corner point.

[0066] In combination with the above, when a parking space is detected, the top position of the parking space can be determined. The top position of the parking space is the frontmost position in the length direction of the parking space, and the bottom position of the parking space is the rearmost position in the length direction of the parking space. The top position of the parking space has a corner position in the width direction of the parking space.

[0067] Figure 5 It is a schematic diagram of the relationship between vehicles, parking spaces and obstacles.

[0068] Combination Figure 4 as well as Figure 5 , point F is the left corner of the parking space, and point G is the right corner of the parking space. For a lined parking space, the left corner of the parking space is the intersection of the front edge line and the left edge line of the vehicle, and the right corner is the intersection of the front edge line and the right edge line. For a space parking space, the left and right corners are the front vertices of the parking area close to the vehicle body.

[0069] S32: Use the drone to detect the location of obstacles in the area directly in front of the parking space and the area in front of the side.

[0070] In combination with the above, the drone can detect obstacles above, directly in front of, and to the side of the parking space. At this time, the directly in front of and to the side of the parking space are the most forward detection areas. Figure 2 At this time, the area directly in front and the area in front of the side are detection area A.

[0071] In some specific embodiments, in order to achieve more accurate detection, the drone can be controlled to perform mobile detection so that the drone can perform detection at a position between the left corner point and the right corner point. In this case, the detection is mainly performed on the area directly in front of the parking space. Figure 2 For a marked parking space, detection can be performed above the front edge line of the parking space.

[0072] Combination Figure 5 At this time, the wall in front of the parking space is located in the area directly in front of the parking space and the area in front of the side. At this time, the specific position of the wall can be detected by the drone directly above the corner point.

[0073] Figure 6 FIG. 1 is a flow chart of another embodiment of the vehicle parking method provided by the present application. Figure 6In some specific embodiments, the step of controlling the drone to move backward in the length direction of the parking space to detect the detection area behind the most forward detection area, i.e., the above-mentioned step S22, includes:

[0074] S41: Control the drone to move backward a first preset distance above a preset route of the parking space, and detect the positions of obstacles on both sides of the parking space in the width direction during the movement; wherein the distance between the preset route and the central axis of the parking space in the width direction of the parking space is less than the preset distance.

[0075] Combination Figure 2 , after the detection of the frontmost detection area is completed, that is, the detection of detection area A is completed, this step is performed. At this time, assuming that the distance between detection area B in the length direction of the parking space is the first preset distance, the drone will detect the position of obstacles in the detection area B on the left and right sides of the parking space.

[0076] Continue to combine Figure 2 , the dotted line L represents the central axis of the parking space, and the central axis divides the parking space into two equal parts. Among them, the distance between the preset route and the central axis of the parking space in the width direction of the parking space is less than the preset distance, so that the distance between the preset route and the central axis is closer, and a good detection effect can be achieved for the positions on both sides of the parking space. In some preferred embodiments, the drone can perform flight detection above the central axis.

[0077] Since the drone will detect while moving, that is, it will detect while moving, there may be multiple preset detection positions above the preset route of the parking space. The drone will detect the left and right areas of detection area B on the parking space at these preset detection positions.

[0078] It should be understood that by controlling the drone to perform detection above the preset route of the parking space, the drone can maintain a suitable distance from the left and right side lines of the parking space, thereby being able to perform better detection on both the left and right sides of the parking space to ensure uniformity of the detection effect on the left and right areas.

[0079] At this time, the area to be detected on the left and right sides of the parking space is the area on the left and right sides of the front of the parking space. Figure 5 , square columns and other vehicles can be located in this area. The position of obstacles in this area directly determines the size of the gaps on the left and right sides of the front of the parking space. The size of the gap determines whether the vehicle can be parked smoothly and where the vehicle should be parked. Therefore, the detection of this step is of great significance for judging whether the vehicle can be parked and the subsequent parking planning.

[0080] Since the obstacle positions on the left and right sides of the front of the parking space generally represent the obstacle position information on the left and right sides of the entire parking space, the first preset distance can be set to a smaller value, such as 1m, to reduce the detection amount.

[0081] S42: Control the depression angle of the radar of the drone to be adjusted to a preset angle range to detect whether there is a ground lock in a preset area of ​​the parking space in its length direction.

[0082] This step is performed after the drone moves a first preset distance above the preset route. At this time, the drone can hover for detection after moving the first preset distance above the preset route. Figure 2 , that is, H is the preset detection position, and the drone performs detection above H.

[0083] In combination with the above, since the first preset distance is generally small, and the position of the ground lock is generally closer to the front end of the parking space, such as Figure 5 Therefore, when testing above H, the ground lock can generally be detected. Figure 2 For the detection area, the detection area corresponding to the preset detection position H point can be the parking space area in the detection area C.

[0084] It should be understood that in the previous detection process, the radar of the drone generally emits light horizontally. In this step, in order to detect the ground lock on the parking space, it is necessary to emit light downward, so the radar depression angle needs to be adjusted so that the radar emits light downward to detect the ground lock.

[0085] Figure 7 FIG. 1 is a flow chart of another embodiment of the vehicle parking method provided by the present application. Figure 7 In some specific embodiments, after the step of controlling the depression angle of the radar of the drone to be adjusted to a preset angle range to detect whether there is a ground lock in a preset area in the length direction of the parking space, that is, after the above step S42, the method further includes:

[0086] S51: If a ground lock is detected in the preset area, the drone is controlled to move backward a second preset distance in the length direction of the parking space, and the image information and height information of the ground lock are obtained through the drone.

[0087] It should be understood that the detection method in the previous embodiment only performs a rough detection on the ground lock, that is, determines whether there is a ground lock in the detection area C. This step further performs an accurate detection on the ground lock to obtain the image information and height information of the ground lock.

[0088] In order to obtain the image information and height information of the ground lock well, the drone is further controlled to move a second preset distance. Figure 2, assuming that the length of the detection area C in the length direction of the parking space is a second preset distance, then the drone will be located above the preset detection position K to obtain the image information and height information of the ground lock.

[0089] In some specific application scenarios, the second preset distance may be 1.5 m. When the drone is located at the preset detection position K, the distance between it and the ground lock is small, and the ground lock can be better detected to accurately obtain the image information and height information of the ground lock.

[0090] Specifically, the drone may be provided with a camera device and a radar device, so as to obtain image information of the ground lock through the camera device and obtain height information of the ground lock through the radar device.

[0091] In other embodiments, after the drone moves the second preset distance, the drone can detect the areas on both sides of the parking space to obtain the location information of obstacles such as vehicles and pillars on both sides of the middle of the parking space. Figure 2 , that is, the detection area C is located on both sides of the parking space.

[0092] S52: Acquire the type information of the ground lock based on the image information, and determine the switch state of the ground lock based on the type information and the height information.

[0093] After the drone obtains the image information and the height information, the image information and the height information can be sent to the vehicle so that the vehicle can perform further processing based on the image information and the height information. Of course, in other embodiments, the drone can process the information through its own processor and send the processed information to the vehicle.

[0094] It should be understood that after obtaining the image information, it can be compared with the preset image template to obtain the type of ground lock. After determining the type of ground lock, the height of the ground lock determines whether the ground lock is in the open state, so the switch state of the ground lock can be determined based on the height information. When the ground lock is in the open state, it is determined that the current parking space cannot be used.

[0095] Figure 8 FIG. 1 is a flow chart of another embodiment of the vehicle parking method provided by the present application. Figure 8 In some specific embodiments, after the step of controlling the depression angle of the radar of the drone to be adjusted to a preset angle range to detect whether there is a ground lock in a preset area in the length direction of the parking space, that is, after the above step S42, the method includes:

[0096] S61: Control the drone to move above a preset route to be located above the bottom of the parking space.

[0097] After detecting the ground lock, the drone is further controlled to move along the preset route of the parking space, and finally moves above the bottom of the parking space. Figure 2 , for the marked parking spaces, it is moved to the top of point J. For the space parking spaces, the position about 6m away from the front end of the parking space is taken as the bottom position.

[0098] S62: Control the drone to rotate, and detect the position of obstacles in the area directly behind and behind the parking space during the rotation.

[0099] The direction of the light emitted by the drone's radar can be adjusted by rotating the drone to achieve comprehensive detection of the area directly behind the vehicle and the area behind the side. Figure 2 At this time, the rear area and the side rear area are located in the detection area E.

[0100] At this time, the main purpose is to detect obstacles that may invade the rear of the vehicle, such as moving people, to detect ghosting.

[0101] Fig. 9 FIG. 1 is a flow chart of another embodiment of the vehicle parking method provided by the present application. Fig. 9 In some specific embodiments, if the detected position of the obstacle matches the preset position, after the step of performing parking planning based on the position information of the obstacle, that is, after the above step S13, the method further includes:

[0102] S71: Control the vehicle to park, and control the drone to be located at a preset hovering position or to move following the vehicle, so as to detect the position of obstacles in the surrounding area of ​​the parking space.

[0103] After parking planning is performed based on the location information of the obstacle, parking can be performed based on the parking planning. At this time, the vehicle can be parked by manual control of the driver or automatically. In order to ensure the safety during the parking process, this step detects the location of obstacles in the surrounding area of ​​the parking space.

[0104] It should be understood that although radar devices and surround-view cameras can be installed on vehicles, they cannot effectively detect obstacles within a relatively close distance to the vehicle body. Therefore, drones can be used to detect areas close to the vehicle body, thereby obtaining the blind spots of the vehicle-mounted radar and surround-view cameras.

[0105] S72: If it is detected that the distance between the vehicle and the obstacle is less than the preset distance, a warning message is generated for warning.

[0106] Through this step, the driver and passengers can be reminded of the possible collision risk during the parking process. For example, when the distance between the obstacle and the vehicle is less than 50cm, a warning message can be generated to remind the driver and passengers.

[0107] Fig.10 FIG. 1 is a flow chart of another embodiment of the vehicle parking method provided by the present application. Fig.10 In some specific embodiments, after the step of controlling the drone to be located at a preset position or to follow the vehicle to detect the position of obstacles in the surrounding area of ​​the parking space, the method includes:

[0108] S81: Acquire the position information of the vehicle; wherein the position information includes the position relationship between the vehicle and the parking space.

[0109] Through the vehicle's posture information, the position relationship of the vehicle relative to the parking space can be obtained, and the parking status of the vehicle can be obtained through this position relationship.

[0110] S82: When it is determined based on the position information that the vehicle is in an upright state, the drone is controlled to move above the bottom of the parking space to detect the position of obstacles in the area directly behind and behind the side of the parking space.

[0111] When the vehicle is in a straightened state, the length direction of the vehicle is consistent with the length direction of the parking space, and most of the vehicle has entered the parking space.

[0112] At this time, there may be moving objects in the area directly behind and behind the parking space, which may cause parking safety problems. Through this step, the obstacle information behind the parking space can be well fed back to the driver, thereby avoiding safety problems during parking to a certain extent.

[0113] In some application scenarios, before a vehicle parks, the drone can detect the location information of suspended obstacles in the parking space from outside the parking space. For example, suspended obstacles may include fire sprinkler heads, suspended fire boxes invading the parking space, and water valves invading the parking space. When a suspended obstacle is obtained, the parking space can be eliminated. Only when no suspended obstacle is obtained, the drone is further controlled to move to the front preset detection position for detection.

[0114] A second aspect of the present application provides an electronic device, comprising: a processor; and a memory for storing a computer program, wherein when the computer program is executed by the processor, the drone-based parking method in any of the above embodiments is implemented.

[0115] Fig.11 It is a schematic diagram of the structural framework of an embodiment of the electronic device 500 provided in the present application.

[0116] In some specific embodiments, the electronic device 500 includes a central processing unit (CPU) 501 and a read-only memory (ROM) 502, wherein the CPU 501 is a processor and the ROM 502 is a memory. The CPU 501 can perform various appropriate actions and processes according to the program stored in the ROM 502 or the program loaded from the storage part 508 to the random access memory (RAM) 503, such as executing the method in the above embodiment. In the RAM 503, various programs and data required for system operation are also stored. The CPU 501, the ROM 502 and the RAM 503 are connected to each other via a bus 504. The input / output (I / O) interface 505 is also connected to the bus 504.

[0117] The following components are connected to the I / O interface 505: an input section 506 including a keyboard, a mouse, etc.; an output section 507 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 508 including a hard disk, etc.; and a communication section 509 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 509 performs communication processing via a network such as the Internet. A drive 510 is also connected to the I / O interface 505 as needed. A removable medium 511, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 510 as needed so that a computer program read therefrom is installed into the storage section 508 as needed.

[0118] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication section 509, and / or installed from a removable medium 511. When the computer program is executed by a central processing unit (CPU) 501, various functions defined in the system of the present application are executed.

[0119] A third aspect of the present application provides a computer-readable storage medium 40, Fig.12It is a schematic diagram of the structural framework of an embodiment of the computer-readable storage medium 40 provided in the present application.

[0120] A computer program 41 is stored on the computer-readable storage medium 40. When the computer program 41 is executed by the processor, the drone-based parking method in any of the above-mentioned embodiments is implemented.

[0121] It should be noted that the computer-readable medium 40 shown in the embodiment of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it. In the present application, a computer-readable signal medium can include a data signal propagated in a baseband or as a part of a carrier wave, wherein a computer-readable computer program is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate, or transmit programs for use by or in conjunction with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0122] In summary, based on the drone-based parking method, electronic device and storage medium provided in the present application, the parking method includes: performing parking space detection on the target area based on the drone; wherein the parking spaces include marked parking spaces and space parking spaces; when the parking space is detected, the drone is controlled to different preset detection positions in the length direction of the parking space, and the position of obstacles is detected in the corresponding detection area; wherein the parking space and the surrounding area of ​​the parking space are divided into multiple detection areas in the length direction of the parking space; if the detected position of the obstacle matches the preset position, parking planning is performed based on the position information of the obstacle.

[0123] Therefore, based on any of the above embodiments, the present application can comprehensively and accurately understand the obstacle position information in and around the parking space by detecting the corresponding detection area at different preset detection positions in the length direction of the parking space, thereby improving the safety of parking when assisted parking is performed based on the obstacle position information.

[0124] The above content is only a preferred exemplary embodiment of the present application and is not intended to limit the implementation scheme of the present application. A person skilled in the art can easily make corresponding changes or modifications based on the main concept and spirit of the present application. Therefore, the scope of protection of the present application shall be based on the scope of protection required by the claims.

Claims

1. A parking method based on drone, characterized in that: The parking method comprises: Performing parking space detection in a target area based on a drone; wherein the parking spaces include marked parking spaces and space parking spaces; When the parking space is detected, the drone is controlled to detect obstacles at different preset detection positions in the length direction of the parking space, and the corresponding detection areas are detected; wherein the parking space and the surrounding area of ​​the parking space are divided into a plurality of detection areas in the length direction of the parking space; If the detected position of the obstacle matches the preset position, parking planning is performed based on the position information of the obstacle; The step of controlling the drone to detect obstacles at different preset detection positions in the length direction of the parking space to detect the positions of obstacles in the corresponding detection areas includes: Control the drone to move to the frontmost preset detection position, and perform obstacle position detection on the frontmost detection area corresponding to the frontmost preset detection position; wherein the frontmost preset detection position is the preset detection position farthest from the bottom in the direction from the bottom to the top of the parking space; The drone is controlled to move backward in the length direction of the parking space to detect the detection area behind the frontmost detection area, and detects from front to back in sequence in the length direction of the parking space, and abandons the detection when it is detected that the parking space does not meet the parking conditions.

2. The parking method according to claim 1, characterized in that: The step of controlling the drone to move to the frontmost preset detection position and performing obstacle position detection on the frontmost detection area corresponding to the frontmost preset detection position comprises: Controlling the drone to move to the position directly above the corner point on the top of the parking space; wherein the corner point position includes a left corner point position and a right corner point position; The drone is used to detect the position of obstacles in the area directly in front of the parking space and the area in front of the side.

3. The parking method according to claim 2, characterized in that: The step of controlling the drone to move backward in the length direction of the parking space to detect the detection area behind the frontmost detection area includes: Controlling the drone to move backward a first preset distance above a preset route of the parking space, and detecting the position of obstacles on both sides of the parking space in the width direction during the movement; wherein the distance between the preset route and the central axis of the parking space in the width direction of the parking space is less than a preset distance; The depression angle of the radar of the drone is controlled to be adjusted to a preset angle range to detect whether there is a ground lock in a preset area of ​​the parking space in its length direction.

4. The parking method according to claim 3, characterized in that: After the step of controlling the depression angle of the radar of the drone to be adjusted to a preset angle range to detect whether there is a ground lock in a preset area of ​​the parking space in its length direction, the method includes: Controlling the drone to move above the preset route to be located above the bottom of the parking space; The drone is controlled to rotate, and during the rotation process, the position of obstacles in the area directly behind and the area behind the parking space is detected.

5. The parking method according to claim 3, characterized in that: After the step of controlling the depression angle of the radar of the drone to be adjusted to a preset angle range to detect whether there is a ground lock in a preset area of ​​the parking space in its length direction, the method further includes: If a ground lock is detected in the preset area, the drone is controlled to move backward a second preset distance in the length direction of the parking space, and image information and height information of the ground lock are obtained; The type information of the ground lock is acquired based on the image information, and the switch state of the ground lock is determined based on the type information and the height information.

6. The parking method according to claim 1, characterized in that: If it is detected that the position of the obstacle matches the preset position, after the step of performing parking planning based on the position information of the obstacle, the method further includes: Controlling the vehicle to park, and controlling the drone to be located at a preset hovering position or to move following the vehicle, so as to detect the position of obstacles in the surrounding area of ​​the parking space; If it is detected that the distance between the vehicle and the obstacle is less than the preset distance, a warning message is generated for warning.

7. The parking method according to claim 6, characterized in that: After the step of controlling the drone to be located at a preset position or to follow the vehicle to detect the position of obstacles in the surrounding area of ​​the parking space, the method further comprises: Acquire the position information of the vehicle; wherein the position information includes the position relationship between the vehicle and the parking space; When it is obtained based on the posture information that the vehicle is in a straightened state, the drone is controlled to move above the bottom of the parking space to detect the position of obstacles in the area directly behind and behind the side of the parking space.

8. An electronic device, characterized in that: include: processor; A memory for storing a computer program, wherein the computer program, when executed by the processor, implements the parking method according to any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the parking method according to any one of claims 1 to 7 is implemented.

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