Parking space determination method and determination device, storage medium, controller, vehicle

Abstract

The application discloses a parking space determination method and device, a storage medium, a controller and a vehicle. The method comprises the following steps: acquiring a preset minimum turning radius of the vehicle, and determining reference position information according to the preset minimum turning radius of the vehicle; acquiring position information of a plurality of parking spaces; and determining a target parking space according to the position information of the parking spaces and the reference position information. The control method can select an optimal parking space, thereby improving the average parking time of automatic parking of the vehicle and improving user experience.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle parking, in particular to a parking space determination method, a parking space determination device, a computer readable storage medium, a controller and a vehicle. BACKGROUND

[0002] At present, the common automatic parking function is that after searching for available parking spaces, the system will select a certain available parking space by default. At this time, the user can directly click the "start parking" button for direct use, or can select any other available parking space displayed through the vehicle screen. Most users generally tend to accept the parking space selected by the system by default and directly click "start parking". When the selected parking space is close to the position of the vehicle, the vehicle generally needs to be adjusted several times to park in the parking space, and there is no judgment on whether the parking space can be parked by the vehicle "at one time". If the user wants to park the parking space "at one time", the user needs to manually select a parking space far away for parking, which increases the parking time and reduces the user experience. SUMMARY

[0003] The present application aims to at least solve one of the technical problems in the related art. To this end, the first object of the present application is to provide a parking space determination method, which determines reference position information according to a preset minimum turning radius of a vehicle, and determines a target parking space according to position information of the parking space and the reference position information, so as to select an optimal parking space, thereby improving the average parking time of automatic parking of the vehicle and improving the user experience.

[0004] The second object of the present application is to provide a parking space determination device.

[0005] The third object of the present application is to provide a computer readable storage medium.

[0006] The fourth object of the present application is to provide a controller.

[0007] The fifth object of the present application is to provide a vehicle.

[0008] To achieve the above objects, the first aspect of the present application provides a parking space determination method, comprising: obtaining a preset minimum turning radius of a vehicle, and determining reference position information according to the preset minimum turning radius of the vehicle; obtaining position information of a plurality of parking spaces; and determining a target parking space according to the position information of the parking space and the reference position information.

[0009] The parking space determination method according to the embodiment of the present application first acquires a preset minimum turning radius of a vehicle, and determines reference position information according to the preset minimum turning radius of the vehicle, then acquires position information of a plurality of parking spaces, and finally determines a target parking space according to the position information of the parking spaces and the reference position information. Thus, the method can select an optimal parking space, thereby improving the average parking time of vehicle automatic parking and improving user experience.

[0010] In addition, the parking space determination method according to the above embodiment of the present application can further have the following additional technical features:

[0011] According to one embodiment of the present application, the reference position information indicates a minimum lateral distance and a minimum longitudinal distance required when the vehicle moves from a horizontal position to a vertical position with the preset minimum turning radius relative to a reference point of the vehicle.

[0012] According to one embodiment of the present application, determining the reference position information according to the preset minimum turning radius of the vehicle includes: acquiring an axle distance between front and rear axles of the vehicle; determining the minimum longitudinal distance required according to a difference between the preset minimum turning radius and the axle distance; and determining the minimum lateral distance required according to a sum of the preset minimum turning radius and the axle distance.

[0013] According to one embodiment of the present application, the position information includes a longitudinal distance between a center line of a parking space and a reference point of the vehicle, and a lateral distance between a front corner point of the parking space and the reference point of the vehicle, and determining the target parking space according to the position information of the parking spaces and the reference position information includes: acquiring a front corner point lateral distance of the front corner point relative to the reference point; and when the longitudinal distance is greater than the minimum longitudinal distance required and the lateral distance is greater than a difference between the minimum lateral distance required and the front corner point lateral distance, determining that the parking space corresponding to the position information is the target parking space.

[0014] According to one embodiment of the present application, the vehicle parking control method further includes: when each of the parking spaces satisfies the following conditions, determining the parking space corresponding to a front corner point with the shortest distance between the front corner point and the reference point as the target parking space; the conditions are that the longitudinal distance is less than or equal to the minimum longitudinal distance required, or the lateral distance is less than or equal to a difference between the minimum lateral distance required and the front corner point lateral distance.

[0015] According to one embodiment of the present application, if the parking space corresponding to the position information satisfying the conditions that the longitudinal distance is greater than the minimum longitudinal distance required and the lateral distance is greater than a difference between the minimum lateral distance required and the front corner point lateral distance is a plurality, the parking space corresponding to a front corner point with the shortest distance between the front corner point and the reference point is determined as the target parking space.

[0016] According to one embodiment of the present application, the preset minimum turning radius of the vehicle is obtained, comprising: obtaining basic parameter information of the vehicle, wherein the basic parameter information comprises a body length, a maximum turning angle of a front wheel, a maximum turning angle of a rear wheel, and a maximum turning angle of a steering wheel; and determining the preset minimum turning radius of the vehicle according to the basic parameter information.

[0017] To achieve the above object, the second aspect of the present application provides a parking space determination device, comprising: a first obtaining module configured to obtain a preset minimum turning radius of a vehicle; a determining module configured to determine reference position information according to the preset minimum turning radius of the vehicle; and a second obtaining module configured to obtain position information of a plurality of parking spaces; and the determining module is further configured to determine a target parking space according to the position information of the parking spaces and the reference position information.

[0018] The parking space determination device according to the embodiment of the present application, the first obtaining module obtains the preset minimum turning radius of the vehicle, the determining module determines the reference position information according to the preset minimum turning radius of the vehicle, the second obtaining module obtains the position information of the plurality of parking spaces, and the determining module further determines the target parking space according to the position information of the parking spaces and the reference position information. Thus, the device can select the optimal parking space, thereby improving the average parking time of the vehicle automatic parking and improving the user experience.

[0019] To achieve the above object, the third aspect of the present application provides a computer readable storage medium, which stores a parking space determination program, and the parking space determination program is executed by a processor to implement the above parking space determination method.

[0020] The computer readable storage medium according to the embodiment of the present application, by executing the above parking space determination method, can select the optimal parking space, thereby improving the average parking time of the vehicle automatic parking and improving the user experience.

[0021] To achieve the above object, the fourth aspect of the present application provides a controller, comprising a memory, a processor, and a parking space determination program stored in the memory and executable on the processor, and the processor executes the parking space determination program to implement the above parking space determination method.

[0022] The controller according to the embodiment of the present application, by executing the above parking space determination method, can select the optimal parking space, thereby improving the average parking time of the vehicle automatic parking and improving the user experience.

[0023] To achieve the above object, the fifth aspect of the present application provides a vehicle, comprising the above controller.

[0024] According to the vehicle of the embodiment of the present application, by comprising the controller described above, the optimal parking space can be selected, so that the average parking time of the vehicle automatic parking is improved, and the user experience is improved.

[0025] Additional aspects and advantages of the present application will be given in part in the following description, become apparent from the following description, or be learned by practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 Flow chart of the parking space determination method according to the embodiment of the present application;

[0027] Figure 2 Schematic diagram of the parking space determination position information according to the embodiment of the present application;

[0028] Figure 3 Flow chart of the parking space determination method according to one specific example of the present application;

[0029] Figure 4 Block schematic diagram of the parking space determination device according to the embodiment of the present application;

[0030] Figure 5 Block schematic diagram of the controller according to the embodiment of the present application;

[0031] Figure 6 Block schematic diagram of the vehicle according to the embodiment of the present application. DETAILED DESCRIPTION

[0032] The embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar notations represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary, and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0033] The parking space determination method, the parking space determination device, the computer readable storage medium, the controller and the vehicle proposed by the embodiments of the present application are described below with reference to the accompanying drawings.

[0034] Figure 1 Flow chart of the parking space determination method according to the embodiment of the present application.

[0035] As Figure 1 shown, the parking space determination method of the embodiment of the present application can include the following steps:

[0036] S1, obtaining a preset minimum turning radius of the vehicle, and determining reference position information according to the preset minimum turning radius of the vehicle. The reference position information indicates minimum lateral and longitudinal distances required for the vehicle to move from a horizontal position to a vertical position at the preset minimum turning radius relative to a reference point of the vehicle. The reference position information can also be minimum lateral and longitudinal distances required for the vehicle to move from a non-horizontal position to a parking space at the preset minimum turning radius. In order to improve the success rate of one-time parking, the reference position information can also be the minimum lateral distance plus a preset value, and the minimum longitudinal distance plus a preset value. For example, the preset value can be 0.1 meters.

[0037] According to an embodiment of the present application, obtaining the preset minimum turning radius of the vehicle includes: obtaining basic parameter information of the vehicle, wherein the basic parameter information includes a vehicle body length, a maximum turning angle of a front wheel, a maximum turning angle of a rear wheel, and a maximum turning angle of a steering wheel; and determining the preset minimum turning radius of the vehicle according to the basic parameter information.

[0038] Specifically, when the user drives the vehicle near a parking space, the ultrasonic radar and the visual sensor (such as a camera) can collect environmental information around the vehicle, and the parking controller can extract information related to the parking space, such as whether there is an obstacle in the parking space, the coordinates of the corner points of the parking space, the size of the parking space, and the like. The parking controller can determine whether the found parking space can be parked according to the size of the parking space and whether there is an obstacle in the parking space, and send the parking space determined to be parked to the vehicle machine. After receiving the relevant signals, the vehicle machine displays them on the screen to inform the user of the available parking spaces around the vehicle. After obtaining the available parking spaces, the present application can use a corresponding calculation method to determine which parking space can be directly parked in one time, thereby improving the user experience. First, the preset minimum turning radius of the vehicle is obtained. The minimum turning radius of the vehicle refers to the radius of the track circle rolled on the support plane by the center plane of the outer steering wheel when the steering wheel is turned to the limit position and the vehicle is driven at the lowest stable speed. The minimum turning radius of different vehicles is different. When the vehicle is parking, the preset minimum turning radius R of the vehicle is obtained. The preset minimum turning radius R of the vehicle can be determined according to the basic parameter information of the vehicle, for example, the preset minimum turning radius R can be determined according to the vehicle body length, the maximum turning angle of the front wheel of the vehicle, the maximum turning angle of the rear wheel of the vehicle, and the maximum turning angle of the steering wheel of the vehicle.

[0039] According to an embodiment of the present application, the reference position information is determined according to the preset minimum turning radius of the vehicle, including: obtaining an axle distance between front and rear axles of the vehicle; determining a required minimum longitudinal distance according to a difference between the preset minimum turning radius and the axle distance; and determining a required minimum lateral distance according to a sum of the preset minimum turning radius and the axle distance.

[0040] Specifically, after obtaining the preset minimum turning radius of the vehicle, the reference position information can be determined according to the preset minimum turning radius. Figure 2 As shown, the wheelbase Wb between the front axle and the rear axle of the vehicle is obtained. After obtaining the wheelbase Wb, the minimum longitudinal distance Y1 for the vehicle to successfully enter the parking space when parking can be determined based on the difference between the preset minimum turning radius R and the wheelbase Wb, and the minimum lateral distance X1 for the vehicle to successfully enter the parking space when parking can be determined based on the sum of the preset turning radius R and the wheelbase Wb.

[0041] It should be noted that if Figure 2 As shown, the center of the vehicle's rear axle can be selected as the vehicle's reference point. The vehicle's initial posture is parallel to the road, and the parking space is perpendicular to the road. When the vehicle is in a horizontal position and moves with a preset minimum turning radius to a vertical position (i.e., a vertical parking area, an area that can be reached when the vehicle is in the initial position and is perpendicular to the vehicle's initial posture only in reverse gear), the minimum lateral distance and minimum longitudinal distance required relative to the vehicle's reference point can be used as reference position information.

[0042] S2, obtaining location information of multiple parking spaces.

[0043] S3: Determine the target parking space according to the location information of the parking space and the reference location information.

[0044] According to one embodiment of the present invention, the position information includes: the longitudinal distance between the center line of the parking space and the reference point of the vehicle, and the lateral distance between the front corner point of the parking space and the reference point of the vehicle. Determining the target parking space based on the position information of the parking space and the reference position information includes: obtaining the lateral distance of the front corner point relative to the reference point after the vehicle is parked; when the longitudinal distance is greater than the required minimum longitudinal distance, and the lateral distance is greater than the difference between the required minimum lateral distance and the lateral distance of the front corner point, determining that the parking space corresponding to the position information is the target parking space.

[0045] Specifically, when a vehicle is parked, the location information of multiple parking spaces may be obtained first, for example, Figure 2 As shown, for multiple parking spaces such as available parking space 1 and available parking space 2, the position information may include the longitudinal distance L1 between the center line L of the parking space and the reference point of the vehicle (in Figure 2 L1 is the same as Y1 in the figure), and the lateral distance L2 between the front corner of the parking space and the reference point of the vehicle (in Figure 2 L2 and X3 are the same). The front corner of the parking space can be selected from any point at the entrance of the parking space, such as Figure 2 The front corner point of available parking space 1 is A (Ax, Ay), and the front corner point of available parking space 2 is B (Bx, By). After determining the location information of the parking space, obtain the front corner point of the parking space relative to the vehicle reference point (Figure 2 The lateral distance X2 of the front corner point (the center of the rear axle of the vehicle in the parking space) can be obtained by calibration when the vehicle is parked and is a known quantity. Determine the size relationship between the longitudinal distance L1 and the minimum longitudinal distance Y1 required for the vehicle to park successfully, and determine the size relationship between the lateral distance L2 and the difference between the minimum lateral distance X1 required for the vehicle to park successfully and the lateral distance X2 of the front corner point. If the longitudinal distance L1 is greater than the required minimum longitudinal distance Y1, and the lateral distance L2 is greater than the difference between the required minimum lateral distance X1 and the lateral distance X2 of the front corner point, it can be determined that the parking space corresponding to the position information is the target parking space, and the vehicle can be controlled to select the parking space for parking. In this way, the problem of the system defaulting to selecting other parking spaces when the vehicle can be parked in one parking space is solved, resulting in long parking time and poor user experience.

[0046] According to one embodiment of the present invention, the vehicle parking control method further includes: when each parking space satisfies the following conditions, based on the distance between each front corner point and the reference point, the parking space corresponding to the front corner point with the shortest distance is selected as the target parking space; the condition is: the longitudinal distance is less than or equal to the required minimum longitudinal distance, or the lateral distance is less than or equal to the difference between the required minimum lateral distance and the lateral distance of the front corner point.

[0047] Specifically, if there is no parking space that can be parked vertically, that is, there is no parking space that is perpendicular to the lane that the vehicle can enter after only one reversing, the parking space closest to the vehicle can be selected as the target parking space and recommended to the user. That is, when the longitudinal distance L1 of each parking space is less than or equal to the required minimum longitudinal distance Y1, or when the lateral distance L2 is less than or equal to the difference between the required minimum lateral distance X1 and the lateral distance X2 of the front corner point, it is determined that there is no parking space that can be parked vertically, and the distance d between the front corner point of each parking space and the reference point can be obtained, and the parking space with the front corner point corresponding to the shortest distance d can be used as the target parking space. For example, the coordinates of the front corner point of parking space 1 are (Ax, Ay), and the coordinates of the front corner point of parking space 2 are (Bx, By), then the distance d1 between the front corner point of parking space 1 and the reference point is The distance d2 between the front corner of parking space 2 and the reference point is Compare the values ​​of d1 and d2. If d1 is less than d2, parking space 1 can be selected as the target parking space for parking; if d1 is greater than d2, parking space 2 can be selected as the target parking space for parking, thereby saving parking time and improving user experience.

[0048] According to one embodiment of the present application, if the position information corresponding to the parking space satisfies the condition that the longitudinal distance is greater than the required minimum longitudinal distance and the transverse distance is greater than the difference between the required minimum transverse distance and the front corner point transverse distance, and there are multiple parking spaces, the parking space corresponding to the front corner point with the shortest distance between the front corner point of each parking space and the reference point is taken as the target parking space.

[0049] Specifically, if there are multiple parking spaces that satisfy the condition that the vehicle can be vertically parked in one go, i.e., the longitudinal distance L1 is greater than the required minimum longitudinal distance Y1, and the transverse distance L2 is greater than the difference between the required minimum transverse distance X1 and the front corner point transverse distance X2, the parking space corresponding to the front corner point with the shortest distance d between the front corner point of the multiple parking spaces and the reference point is taken as the target parking space. For example, the front corner point coordinates of parking space 1 are (Ax, Ay), and the front corner point coordinates of parking space 2 are (Bx, By). The distance d1 between the front corner point of parking space 1 and the reference point is The distance d2 between the front corner point of parking space 2 and the reference point is The values of d1 and d2 are compared. If d1 is less than d2, parking space 1 is selected as the target parking space. If d1 is greater than d2, parking space 2 is selected as the target parking space. Thus, when there are multiple parking spaces that satisfy the condition that the vehicle can be vertically parked in one go, the closest parking space is selected for the user to park, thereby saving parking time and improving user experience.

[0050] The determination method of the present application will be described below in conjunction with Figure 3 .

[0051] As a specific example, the parking space determination method of the present application can include the following steps:

[0052] S101, when the user drives the vehicle near the parking space, the ultrasonic radar and the visual sensor collect surrounding environment information, and the parking controller extracts information related to the parking space.

[0053] S102, the parking controller determines whether the searched parking space can be parked in according to the size of the parking space and whether there is an obstacle in the parking space. If yes, step S103 is performed; if no, step S101 is performed.

[0054] S103, the parking space determined to be able to be parked in is sent to the vehicle machine, and the vehicle machine displays the relevant signal on the screen to inform the user of the available parking spaces around.

[0055] S104, the minimum turning radius is determined according to the length of the vehicle body, the maximum turning angle of the front wheels, the maximum turning angle of the rear wheels, and the maximum turning angle of the steering wheel.

[0056] S105, determining a minimum lateral distance and a minimum longitudinal distance required for the vehicle to move from the horizontal position to the vertical position at the preset minimum turning radius relative to the reference point of the vehicle according to the preset minimum turning radius of the vehicle.

[0057] S106, determining a longitudinal distance between the center line of the parking space and the reference point of the vehicle, a lateral distance between the front corner point of the parking space and the reference point of the vehicle, and a front corner point lateral distance of the front corner point relative to the reference point after the vehicle is parked.

[0058] S107, determining whether the longitudinal distance is greater than the required minimum longitudinal distance and the lateral distance is greater than the difference between the required minimum lateral distance and the front corner point lateral distance. If yes, performing step S108; if no, performing step S110.

[0059] S108, determining that the parking space is the target parking space.

[0060] S109, determining whether there are multiple target parking spaces. If yes, performing step S111; if no, performing step S112.

[0061] S110, obtaining the distance between each front corner point and the reference point.

[0062] S111, taking the parking space corresponding to the front corner point with the shortest distance as the target parking space, and entering step S112.

[0063] S112, controlling the vehicle to park according to the position information of the target parking space.

[0064] In summary, according to the parking space determination method of the embodiment of the present application, the preset minimum turning radius of the vehicle is first obtained, the reference position information is determined according to the preset minimum turning radius of the vehicle, then the position information of multiple parking spaces is obtained, and finally the target parking space is determined according to the position information of the parking space and the reference position information. Therefore, the method can select the optimal parking space, thereby improving the average parking time of the vehicle automatic parking and improving the user experience.

[0065] Corresponding to the above embodiment, the present application also provides a parking space determination device.

[0066] As shown in Figure 4 the parking space determination device 100 of the embodiment of the present application comprises a first obtaining module 110, a determination module 120 and a second obtaining module 130.

[0067] The first obtaining module 110 is configured to obtain a preset minimum turning radius of the vehicle. The determining module 120 is configured to determine reference position information according to the preset minimum turning radius of the vehicle. The second obtaining module 130 is configured to obtain position information of a plurality of parking spaces. The determining module 120 is further configured to determine a target parking space according to the position information of the parking spaces and the reference position information.

[0068] According to an embodiment of the present application, the reference position information indicates a minimum lateral distance and a minimum longitudinal distance required for the vehicle to move from a horizontal position to a vertical position at the preset minimum turning radius relative to a reference point of the vehicle.

[0069] According to an embodiment of the present application, the determining module 120 determines the reference position information according to the preset minimum turning radius of the vehicle, specifically configured to: obtain an axle distance between front and rear axles of the vehicle; determine the minimum longitudinal distance required according to a difference between the preset minimum turning radius and the axle distance; and determine the minimum lateral distance required according to a sum of the minimum preset turning radius and the axle distance.

[0070] According to an embodiment of the present application, the position information includes a longitudinal distance between a center line of a parking space and a reference point of the vehicle, and a lateral distance between a front corner point of the parking space and the reference point of the vehicle. The control module 140 determines the target parking space according to the position information of the parking spaces and the reference position information, specifically configured to: obtain a front corner point lateral distance of the front corner point relative to the reference point after the vehicle is parked; and determine the parking space corresponding to the position information as the target parking space when the longitudinal distance is greater than the minimum longitudinal distance required, and the lateral distance is greater than a difference between the minimum lateral distance required and the front corner point lateral distance.

[0071] According to an embodiment of the present application, the determining module 120 is further configured to: when each of the parking spaces satisfies the following conditions, determine the parking space corresponding to a front corner point with the shortest distance between the front corner point and the reference point as the target parking space; the conditions are that the longitudinal distance is less than or equal to the minimum longitudinal distance required, or the lateral distance is less than or equal to a difference between the minimum lateral distance required and the front corner point lateral distance.

[0072] According to an embodiment of the present application, the determining module 120 is further configured to: when the parking space corresponding to the position information satisfying the conditions that the longitudinal distance is greater than the minimum longitudinal distance required, and the lateral distance is greater than a difference between the minimum lateral distance required and the front corner point lateral distance is a plurality, determine the parking space corresponding to a front corner point with the shortest distance between the front corner point and the reference point as the target parking space.

[0073] According to one embodiment of the present invention, the first acquisition module 110 acquires the preset minimum turning radius of the vehicle, and is specifically used to: acquire basic parameter information of the vehicle, wherein the basic parameter information includes vehicle body length, maximum turning angle of the front wheels, maximum turning angle of the rear wheels, and maximum turning angle of the steering wheel; and determine the preset minimum turning radius of the vehicle based on the basic parameter information.

[0074] It should be noted that for details not disclosed in the parking space determination device of the embodiment of the present invention, please refer to the details disclosed in the parking space determination method of the embodiment of the present invention, and the details will not be repeated here.

[0075] According to an embodiment of the present invention, the parking space determination device uses a first acquisition module to obtain a vehicle's preset minimum turning radius. A determination module then determines reference location information based on the vehicle's preset minimum turning radius. A second acquisition module then obtains location information for multiple parking spaces. The determination module then determines a target parking space based on the parking space location information and the reference location information. This device can thus select the optimal parking space, thereby improving the average parking time for automated parking and enhancing the user experience.

[0076] Corresponding to the above embodiment, the present invention further proposes a computer-readable storage medium.

[0077] The computer-readable storage medium of the embodiment of the present invention stores a parking space determination program thereon, and when the parking space determination program is executed by a processor, the parking space determination method described above is implemented.

[0078] According to the computer-readable storage medium of an embodiment of the present invention, by executing the above-mentioned parking space determination method, the optimal parking space can be selected, thereby improving the average parking time of the vehicle automatic parking and enhancing the user experience.

[0079] Corresponding to the above embodiment, the present invention also proposes a controller.

[0080] like Figure 5 As shown, the controller 200 of the embodiment of the present invention may include: a memory 210, a processor 220, and a parking space determination program stored in the memory 210 and executable on the processor 220. When the processor 220 executes the parking space determination program, the above-mentioned parking space determination method is implemented.

[0081] According to the controller of the embodiment of the present invention, by executing the above-mentioned parking space determination method, it is possible to select the optimal parking space, thereby improving the average parking time of the vehicle automatic parking and enhancing the user experience.

[0082] Corresponding to the above embodiment, the present invention also provides a vehicle.

[0083] like Figure 6 As shown, the vehicle 300 of the present invention may include a controller 200 .

[0084] The vehicle of the embodiment of the application can select the optimal parking space by containing the controller, thereby improving the average parking time of the vehicle automatic parking and improving the user experience.

[0085] It should be noted that the logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a list of executable instructions for implementing logic functions, and can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, a processor-based system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions, or in conjunction with such an instruction execution system, apparatus, or device. For the purposes of this specification, a "computer-readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device or in conjunction with such an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium include the following: an electrical connection having one or more wires (electrical apparatus), a portable computer diskette (magnetic apparatus), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber (optical apparatus), and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium can even be paper or another suitable medium upon which the program is printed, because the program can be electronically captured, for example, by optically scanning the paper or other suitable medium, then electronically converted into a form that is suitable for use in a computer storage medium.

[0086] It should be understood that parts of the present application can be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, and as in another embodiment, any of the following technologies known in the art or their combinations can be used: discrete logic circuit with logic gate circuit for implementing logic functions on data signals, application specific integrated circuit with suitable combination logic gate circuit, programmable gate array (PGA), field programmable gate array (FPGA), etc.

[0087] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the specification, the illustrative description of the above terms does not necessarily mean the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0088] In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise explicitly specified and limited.

[0089] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and other terms should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0090] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. A parking space determination method, characterized in that: include: Obtaining a preset minimum turning radius of the vehicle, and determining reference position information according to the preset minimum turning radius of the vehicle; Get the location information of multiple parking spaces; determining a target parking space according to the position information of the parking space and the reference position information; The reference position information indicates a minimum lateral distance and a minimum longitudinal distance relative to a reference point of the vehicle required when the vehicle moves from a horizontal position to a vertical position with the preset minimum turning radius; The position information includes: a longitudinal distance between a center line of the parking space and a reference point of the vehicle, and a lateral distance between a front corner point of the parking space and a reference point of the vehicle. Determining a target parking space based on the position information of the parking space and the reference position information includes: Obtaining a lateral distance between the front corner point of the vehicle and the reference point after the vehicle is parked; When the longitudinal distance is greater than the required minimum longitudinal distance, and the lateral distance is greater than the difference between the required minimum lateral distance and the lateral distance of the front corner point, the parking space corresponding to the position information is determined to be the target parking space.

2. The parking space determination method according to claim 1, characterized in that: Determining reference position information according to a preset minimum turning radius of the vehicle includes: Obtaining the wheelbase between the front and rear axles of the vehicle; determining the required minimum longitudinal distance based on the difference between the preset minimum turning radius and the wheelbase; The required minimum lateral distance is determined according to the sum of the preset minimum turning radius and the wheelbase.

3. The parking space determination method according to claim 1, characterized in that: Also includes: When each of the parking spaces satisfies the following conditions, based on the distance between each of the front corner points and the reference point, the parking space corresponding to the front corner point with the shortest distance is selected as the target parking space; The condition is that the longitudinal distance is less than or equal to the required minimum longitudinal distance, or the lateral distance is less than or equal to the difference between the required minimum lateral distance and the lateral distance of the front corner point.

4. The parking space determination method according to claim 1, wherein: If there are multiple parking spaces corresponding to the position information that satisfy the conditions that the longitudinal distance is greater than the required minimum longitudinal distance and the lateral distance is greater than the difference between the required minimum lateral distance and the lateral distance of the front corner point, the parking space with the front corner point corresponding to the shortest distance shall be selected as the target parking space based on the distance between the front corner point of each parking space and the reference point.

5. The parking space determination method according to claim 1, characterized in that: Obtaining a preset minimum turning radius of the vehicle, including: Obtaining basic parameter information of the vehicle, wherein the basic parameter information includes vehicle body length, maximum turning angle of the front wheels, maximum turning angle of the rear wheels, and maximum turning angle of the steering wheel; A preset minimum turning radius of the vehicle is determined according to the basic parameter information.

6. A parking space determination device, characterized in that: The device is used to implement the method according to any one of claims 1 to 5, and the device includes: A first acquisition module is used to obtain a preset minimum turning radius of the vehicle; a determination module, configured to determine reference position information according to a preset minimum turning radius of the vehicle; A second acquisition module is used to obtain location information of multiple parking spaces; The determination module is further configured to determine a target parking space based on the location information of the parking space and the reference location information.

7. A computer-readable storage medium, characterized in that A parking space determination program is stored thereon, and when the parking space determination program is executed by a processor, the parking space determination method according to any one of claims 1 to 5 is implemented.

8. A controller, characterized in that: The parking space determination method comprises a memory, a processor, and a parking space determination program stored in the memory and executable on the processor. When the processor executes the parking space determination program, the parking space determination method according to any one of claims 1 to 5 is implemented.

9. A vehicle, characterized in that: Comprising the controller as claimed in claim 8.

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