Parking method, device, electronic device and readable storage medium

Abstract

The present application relates to the field of automotive technology and provides a parking method, apparatus, electronic device, and readable storage medium. The method comprises: obtaining an initial parking trajectory and initial parking posture of a target vehicle when parking in a target parking space; obtaining the current parking posture of the target vehicle when the target vehicle travels along the initial parking trajectory and the distance between the target vehicle and the target parking space reaches a first preset distance; determining a starting point for replanning the parking trajectory based on the target vehicle's current position and the initial parking trajectory, and determining the current parking posture as the target parking posture when the difference between the initial parking posture and the current parking posture is greater than a preset threshold; planning a target parking trajectory based on the trajectory starting point and the target parking posture, and performing parking according to the initial parking trajectory and the target parking trajectory. The present application solves the technical problem of low accuracy of parking methods in the prior art.

Description

Technical Field

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

[0002] In current vision-based parking systems, after the user selects a parking space and initiates the parking procedure, the system plans a parking trajectory from the current position to the space, including multiple forward and reverse paths, which guide the vehicle precisely into the space. However, these operations and the determination of the vehicle's posture rely on the vehicle's precise determination of the corner coordinates of the parking space. In low-light environments such as underground parking lots, or where parking space markings are unclear, accurate identification of the parking space corners is impossible, ultimately leading to parking posture deviation or misalignment of the vehicle's front end.

[0003] It can be seen that in the related art, there is a problem of low parking accuracy. Summary of the Invention

[0004] In view of this, embodiments of the present application provide a parking method, apparatus, electronic device, and readable storage medium to solve the problem of low parking accuracy in the prior art.

[0005] According to a first aspect of an embodiment of the present application, a parking method is provided, comprising:

[0006] Obtaining the initial parking trajectory and initial parking posture of the target vehicle when parking at the target parking space;

[0007] When the target vehicle travels along the initial parking trajectory and the distance between the target vehicle and the target parking space reaches a first preset distance, obtaining a current parking posture of the target vehicle;

[0008] If the difference between the initial parking posture and the current parking posture is greater than a preset threshold, determining a starting point for replanning the parking trajectory based on the current position of the target vehicle and the initial parking trajectory, and determining the current parking posture as the target parking posture;

[0009] According to the trajectory starting point and the target parking posture, the target parking trajectory is planned, and parking is performed according to the initial parking trajectory and the target parking trajectory.

[0010] A second aspect of the embodiments of the present application provides a parking device, comprising:

[0011] A first acquisition module is used to acquire an initial parking trajectory and an initial parking posture of a target vehicle when parking at a target parking space;

[0012] a second acquisition module, configured to acquire a current parking posture of the target vehicle when the target vehicle travels along the initial parking trajectory and the distance between the target vehicle and the target parking space reaches a first preset distance;

[0013] a planning module for determining a starting point for replanning the parking trajectory based on the current position of the target vehicle and the initial parking trajectory when the difference between the initial parking posture and the current parking posture is greater than a preset threshold, and determining the current parking posture as the target parking posture;

[0014] The parking module is used to plan a target parking trajectory based on the trajectory starting point and the target parking posture, and to park the vehicle according to the initial parking trajectory and the target parking trajectory.

[0015] According to a third aspect of an embodiment of the present application, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0016] According to a fourth aspect of an embodiment of the present application, a readable storage medium is provided, which stores a computer program. When the computer program is executed by a processor, the steps of the above method are implemented.

[0017] The beneficial effects of the embodiments of the present application include at least:

[0018] By obtaining the initial parking trajectory and initial parking posture of the target vehicle when parking at the target parking space, that is, obtaining the parking posture parameters used for initial planning, it is possible to ensure that the initial planning state can be traced back when needed to make necessary adjustments and optimizations, thereby providing a data basis for subsequent operations; by obtaining the current parking posture of the target vehicle when the target vehicle is traveling along the initial parking trajectory and the distance between the target vehicle and the target parking space reaches a first preset distance, the corner points of the parking space can be identified after the target vehicle approaches the parking space and reaches a certain distance, making the identification of the corner points more accurate and improving the accuracy and stability of the recognition results; by determining the parking trajectory according to the current position of the target vehicle and the initial parking trajectory when the difference between the initial parking posture and the current parking posture is greater than a preset threshold The starting point of the re-planned trajectory is traced and the current parking posture is determined as the target parking posture. By setting the trajectory starting point, the re-planned trajectory can be combined with the initial parking trajectory, avoiding the discomfort caused by sudden stops and sudden gear shifts, and ensuring the rationality and stability of the re-planning process. The target parking trajectory is planned based on the trajectory starting point and the target parking posture, and parking is performed according to the initial parking trajectory and the target parking trajectory. By judging the re-planning trigger conditions and generating and optimizing the new trajectory, the vehicle can make real-time adjustments based on the actual situation, thereby improving parking accuracy and avoiding potential safety hazards such as collisions during parking. This improves parking safety and solves the technical problem of low accuracy of automatic parking in the existing technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0020] Figure 1 1 is a flow chart of a parking method provided in an embodiment of the present application;

[0021] Figure 2 is a schematic diagram of a parking trajectory provided by an embodiment of the present application;

[0022] Figure 3 is a flowchart of another parking method provided in an embodiment of the present application;

[0023] Figure 4 This is a flowchart of a parking re-planning process provided by an embodiment of the present application;

[0024] Figure 5 1 is a schematic structural diagram of a parking device provided in an embodiment of the present application;

[0025] Figure 6 This is a structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0026] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0027] The terms "first," "second," and the like in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or precedence. It should be understood that the data used in this manner are interchangeable where appropriate, so that the embodiments of this application can be implemented in an order other than those illustrated or described herein, and that the objects distinguished by "first," "second," and the like are generally of the same type, and do not limit the number of objects. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects connected before and after are in an "or" relationship.

[0028] In addition, it should be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, the elements defined by the phrase "comprises..." do not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the elements.

[0029] A parking method and device according to an embodiment of the present application will be described in detail below with reference to the accompanying drawings.

[0030] Figure 1 FIG. 1 is a flow chart of a parking method provided in an embodiment of the present application. The method can be executed by an automatic parking system or controller. Figure 1 As shown, the parking method includes:

[0031] Step 101 : Acquire an initial parking trajectory and an initial parking posture of a target vehicle when parking at a target parking space.

[0032] Specifically, the target parking space is a parking space to be parked.

[0033] When acquiring and planning the initial parking trajectory and initial parking posture, the vehicle's position and heading angle, the boundary of the drivable area, and the coordinates of the corner points of the target parking space can be obtained. The current position and heading angle of the target vehicle can be acquired through a positioning system such as the Global Positioning System (GPS) and the Beidou satellite navigation system; the boundary of the drivable area surrounding the target vehicle can be identified through an environmental perception system; and the coordinates of the corner points of the target parking space can also be identified through advanced visual processing algorithms. This embodiment can then determine the initial parking posture based on the aforementioned corner point coordinates of the target parking space. Based on the initial parking posture, the aforementioned determined position and heading angle, the boundary of the drivable area, and the requirements of the parking task, a series of trajectories from the current vehicle state to the initial parking posture, i.e., the initial parking trajectory, can be generated.

[0034] Specifically, the parking trajectory is usually composed of multiple continuous path segments, which may include the road segments corresponding to the forward and reverse gears. Figure 2 As shown, the initial parking trajectory includes at least one path segment, wherein adjacent path segments correspond to different gears, wherein segment 1 corresponds to the forward gear, segment 2 corresponds to the reverse gear, segment 3 corresponds to the forward gear, and segment 4 corresponds to the reverse gear.

[0035] In addition, after the initial parking trajectory is planned, the parking posture parameters used in this planning can be saved, so that the previous planning status can be traced back to make necessary adjustments and optimizations when needed.

[0036] Step 102 : When the target vehicle travels along the initial parking trajectory and the distance between the target vehicle and the target parking space reaches a first preset distance, the current parking posture of the target vehicle is obtained.

[0037] Specifically, as the vehicle moves along the initial parking trajectory, it continuously monitors the real-time distance between the vehicle and the target parking space. When the distance reaches a first preset distance, the vehicle re-identifies the corner coordinates of the current parking space and generates a new current parking posture. The first preset distance can be a distance that accurately identifies the corner coordinates of the target parking space, such as 5 meters or 6 meters, and is not specifically limited here.

[0038] It should be noted that when the distance between the target vehicle and the target parking space is greater than the first preset distance, the parking posture will not be triggered to be regenerated. This prevents the problem of low credibility of the measured parking space corner coordinates due to the large distance between the vehicle and the parking space, avoids the invalid redetermination process of the parking posture, and saves computing resources.

[0039] In this way, by obtaining the current parking posture of the target vehicle when the target vehicle travels along the initial parking trajectory and the distance between the target vehicle and the target parking space reaches the first preset distance, reasonable trigger conditions are set for parking replanning, which improves the accuracy of the parking space corner point recognition results, thereby ensuring the rationality and effectiveness of the replanning process.

[0040] Step 103 : When the difference between the initial parking posture and the current parking posture is greater than a preset threshold, a starting point for replanning the parking trajectory is determined based on the current position of the target vehicle and the initial parking trajectory, and the current parking posture is determined as the target parking posture.

[0041] Specifically, if the difference between the initial parking posture and the current parking posture is greater than a preset threshold, it can be considered that the initial parking posture error is too large, and the accuracy of parking planning based on the initial parking posture is low. The parking trajectory needs to be replanned. At this time, the current parking posture can be determined as the target parking posture.

[0042] Furthermore, once it is determined that the trajectory needs to be replanned, a new trajectory needs to be generated quickly and accurately to guide the vehicle from its current state and position to the updated target parking posture. The starting point of the replanned trajectory can be determined based on the target parking posture and the vehicle's current position, providing data and conditions for the subsequent generation of the replanned trajectory and ensuring the comfort and safety of the entire parking process.

[0043] Step 104 : According to the trajectory starting point and the target parking posture, a target parking trajectory is planned and the vehicle is parked according to the initial parking trajectory and the target parking trajectory.

[0044] Specifically, after the target parking trajectory is planned, the initial parking trajectory and the target parking trajectory can be combined through trajectory splicing. During the splicing process, the initial parking trajectory and the target parking trajectory can be smoothly connected based on the trajectory starting point, thereby ensuring trajectory continuity and smoothness as well as comfort during gear shifting.

[0045] In addition, the target parking trajectory can also be Figure 2 As shown, it consists of multiple road sections. The number of road sections can be 2, 3, 4, etc., but not too many, which may lead to poor parking experience for users due to long parking time or frequent switching between forward and reverse gears.

[0046] By planning the target parking trajectory based on the trajectory starting point and the target parking posture, and parking according to the initial parking trajectory and the target parking trajectory, the vehicle can make real-time adjustments based on the actual situation by judging the re-planning trigger conditions and generating and optimizing the new trajectory, improving the parking accuracy and flexibility, and avoiding potential safety hazards such as collisions during parking, thereby improving parking safety.

[0047] According to the technical solution provided in the embodiment of the present application, by obtaining the initial parking trajectory and initial parking posture of the target vehicle when parking at the target parking space and saving the parking posture parameters used for the initial planning, it can be ensured that the system can go back to the initial planning state when needed, so as to make necessary adjustments and optimizations, and provide a data basis for subsequent operations; by obtaining the current parking posture of the target vehicle when the target vehicle travels along the initial parking trajectory and the distance between the target vehicle and the target parking space reaches a first preset distance, the corner points of the parking space are identified after the target vehicle approaches the parking space and reaches a certain distance, so that the identification of the corner points is more accurate, and the accuracy and stability of the recognition results are improved; by, when the difference between the initial parking posture and the current parking posture is greater than a preset threshold, the current parking posture is determined based on the current position of the target vehicle and the initial parking posture The parking trajectory determines the starting point for replanning the parking trajectory and sets the current parking posture as the target parking posture. This setting of the trajectory starting point allows the replanned trajectory to be combined with the initial parking trajectory, avoiding the discomfort caused by sudden stops and gear shifts, and ensuring the rationality and stability of the replanning process. The target parking trajectory is planned based on the trajectory starting point and the target parking posture, and parking is performed based on the initial and target parking trajectories. By determining the replanning trigger conditions and generating and optimizing the new trajectory, the vehicle can make real-time adjustments based on actual conditions, improving parking accuracy and avoiding potential safety hazards such as collisions during parking. This improves parking safety and addresses the technical issue of low accuracy in automatic parking in existing technologies.

[0048] In some embodiments, both the initial parking posture and the current parking posture include the parking position coordinates and the heading angle; and the difference between the initial parking posture and the current parking posture is greater than a preset threshold, including:

[0049] If the difference between the position coordinates of the initial parking posture and the position coordinates of the current parking posture is greater than a first preset threshold, it is determined that the difference between the initial parking posture and the current parking posture is greater than the preset threshold; alternatively, if the difference between the heading angle of the initial parking posture and the heading angle of the current parking posture is greater than a second preset threshold, it is determined that the difference between the initial parking posture and the current parking posture is greater than the preset threshold.

[0050] Specifically, the first preset threshold may be 10 cm, 15 cm, 30 cm, etc., and the second preset threshold may be 5°, 10°, 15°, etc., which may be determined based on actual conditions such as the accuracy of the navigation system, user needs, and other factors.

[0051] In addition, when planning the trajectory, the parking posture parameters used this time will be saved, and the saving format can be [x used ,y used , phi used ], where x and y represent the position coordinates of the current parking posture, phi represents the heading angle, and the subscript used indicates that the parking posture has been used.

[0052] Specifically, for example, the initial parking posture of the target vehicle is [10, 10, 0], indicating that the position coordinates of the initial parking posture are (10, 10) and the heading angle is 0°. After re-determining the parking posture, the current parking posture is [10, 21, 11]. At this time, the position coordinates of the current parking posture are (10, 21) and the heading angle is 11°. Compared with the initial parking posture, if the first preset threshold value can be 10 centimeters and the second preset threshold value is 5°, it can be determined that the difference between the position coordinates of the initial parking posture and the position coordinates of the current parking posture is greater than the first preset threshold value, and the difference between the heading angles is greater than the second preset threshold value, then the parking trajectory needs to be replanned.

[0053] By comparing the position coordinates and heading angle corresponding to the initial parking posture with the position coordinates and heading angle corresponding to the current parking posture, it is determined whether the difference between the initial parking posture and the current parking posture is greater than a preset threshold. When at least one of the position coordinates and the heading angle meets the above conditions, it is determined that the difference is greater than the preset threshold. This ensures the rationality and accuracy of the judgment process, thereby ensuring the rationality and effectiveness of the re-planning project when judging whether the parking posture is incorrect and whether the parking trajectory needs to be re-planned. The vehicle can make real-time adjustments based on actual conditions, thereby improving parking accuracy.

[0054] In some embodiments, after obtaining the current parking posture of the target vehicle, the method further includes:

[0055] When the difference between the initial parking posture and the current parking posture is less than a preset threshold, the target vehicle is controlled to continue traveling along the initial parking trajectory; wherein the difference between the initial parking posture and the current parking posture is less than the preset threshold includes: the difference between the position coordinates of the initial parking posture and the position coordinates of the current parking posture is less than or equal to a first preset threshold, and the difference between the heading angle of the initial parking posture and the heading angle of the current parking posture is less than or equal to a second preset threshold.

[0056] Specifically, when the difference between the position coordinates of the initial parking posture and the position coordinates of the current parking posture is less than or equal to a first preset threshold, and the difference between the heading angle of the initial parking posture and the heading angle of the current parking posture is less than or equal to a second preset threshold, that is, when both the position coordinates and the heading angle meet the above conditions, it is determined that the difference between the initial parking posture and the current parking posture is less than the preset threshold, thereby ensuring the rationality of the judgment.

[0057] For example, continuing with the above embodiment, if the current parking posture obtained after re-determining the parking posture is [10, 15, 3], it indicates that the position coordinates of the current parking posture are (10, 15) and the heading angle is 3°. At this time, compared with the initial parking posture, the difference in position coordinates is less than the first preset threshold and the difference in heading angle is also less than the second preset threshold. This indicates that the difference between the initial parking posture and the current parking posture is less than the preset threshold. Therefore, the vehicle can be controlled to travel along the initial parking trajectory, and there is no need to replan the trajectory, thereby avoiding the problem of ineffective replanning leading to waste of resources.

[0058] In addition, specific Figure 3 As shown, one embodiment of the replanning process may include the following: When a vehicle is preparing to park, the parking posture is calculated using the coordinates of the corner points of the target parking space. An initial parking trajectory is planned using the drivable area, the current location, and the parking posture. The parking posture used for this planning is saved and marked as the initial parking posture. The acceleration, steering angle, and other data required for the vehicle to travel along the trajectory are also calculated. After approaching the target parking space and reaching a certain distance, the coordinates of the corner points of the parking space are re-determined and the current parking posture is recalculated. The initial parking posture and the current parking posture are then compared. If the difference between the two postures is too large, that is, the difference is greater than a preset threshold, the parking trajectory is replanned and the control variables required for the parking trajectory, such as acceleration and steering angle, are calculated. If the difference between the two postures is not too large, that is, the difference is less than a preset threshold, the initial parking trajectory is retained.

[0059] In this way, this embodiment sets a suitable re-planning trigger method by determining whether the difference between the initial parking posture and the current parking posture is greater than a preset threshold, and then determines whether the parking posture is incorrect and whether the parking trajectory needs to be re-planned, thereby ensuring the rationality and effectiveness of the re-planning project. The vehicle can make real-time adjustments based on actual conditions, thereby improving parking accuracy.

[0060] In some embodiments, the initial parking trajectory includes at least one path segment, wherein adjacent path segments correspond to different gears. Determining a starting point for replanning the parking trajectory based on the current position of the target vehicle and the initial parking trajectory includes:

[0061] If the distance between the reference point and the end point of the section of the initial parking trajectory on which the target vehicle is traveling is greater than a second preset distance, a point on the untraveled trajectory on the section of the road on which the target vehicle is traveling that is the second preset distance away from the reference point is determined as the trajectory starting point;

[0062] If the distance between the reference point and the end point of the section traveled by the target vehicle in the initial parking trajectory is less than a second preset distance, the end point of the section traveled by the target vehicle is determined as the trajectory starting point; wherein the parameters of the trajectory starting point include position coordinates and heading angle.

[0063] Specifically, the second preset distance can be 0.5 meters, 1 meter, 1.5 meters, etc., and is not specifically limited here. According to the current vehicle position coordinates, a reference point can be found on the road section currently being tracked. This reference point can be the closest point of the vehicle's current actual position on the planned trajectory, and can also be modified and adjusted according to actual needs. Afterwards, starting from the reference point, the current trajectory will be searched backward to the second preset distance, and this point will be used as the starting point of the trajectory. The initial parking trajectory will be truncated at this point, and a new trajectory will be planned based on the vehicle status that the vehicle should be in at this point; if the distance from the reference point to the end of the road section is less than the second preset distance, the end point of the road section can be used as the starting point of the trajectory, for example, Figure 2 As shown, when the vehicle is traveling on section 3, it is found that the section needs to be replanned. At this time, the distance from the end point of section 3 is less than the second preset distance. Therefore, the intersection of sections 3 and 4, that is, the end point of section 3, can be used as the starting point of the trajectory, and then the trajectory can be replanned based on the starting point of the trajectory.

[0064] Specifically, the process of determining the starting point of the trajectory can be as follows Figure 4 As shown, the vehicle's current position is first determined. The required reference point is then found based on this position. The distance between the reference point and the end of the road segment is then determined. If the distance is greater than a second preset distance, the initial parking trajectory is truncated at the second preset distance, and this truncation point is used as the starting point for trajectory replanning. If the distance is less than the second preset distance, the initial parking trajectory is truncated at the end of the road segment, and this end point is used as the starting point for trajectory replanning. The trajectory is then replanned based on this starting point.

[0065] This embodiment obtains a reference point and then uses the reference point and a second preset distance to determine the starting point for replanning. This provides a basis and conditions for subsequent replanning, ensuring the comfort and safety of the entire parking process. At the same time, the selection of the trajectory starting point can be adjusted in real time according to different parking environments and vehicle conditions, which has strong adaptability and flexibility.

[0066] In some embodiments, determining a reference point of a trajectory start point based on the current position of the target vehicle and the initial parking trajectory includes:

[0067] If the current position of the target vehicle is on the initial parking trajectory, the current position is determined as the reference point; if the current position of the target vehicle is not on the initial parking trajectory, the point on the initial parking trajectory with the smallest distance to the current position is determined as the reference point.

[0068] Specifically, if a vehicle is traveling along a trajectory and replanning is required, a reference point can be determined based on the vehicle's current position. Ideally, the vehicle can travel completely along the trajectory, in which case the vehicle's current position can be used as a reference point. However, in actual conditions, the vehicle may be disturbed while driving. For example, a user may accidentally touch the steering wheel, causing a slight change in the vehicle's heading angle, which in turn causes a certain deviation from the vehicle's trajectory. It is also possible that a component or system of the vehicle fails, making autonomous driving impossible, requiring the user to manually drive along the trajectory, causing the trajectory to deviate, and so on. In this case, the vehicle's current position is not on the initial parking trajectory, and the point on the initial parking trajectory with the smallest distance from the current position can be selected as the reference point to ensure the accuracy of the replanned route.

[0069] This embodiment selects corresponding reference points in different situations, allowing the vehicle to make real-time adjustments based on actual conditions, thereby improving parking accuracy. The vehicle can also make corrections based on driving conditions, thereby improving the adaptability and flexibility of vehicle parking, and improving the comfort of automatic parking, allowing users to have a good parking experience.

[0070] In some embodiments, the target parking trajectory includes at least one path segment, wherein adjacent path segments correspond to different gears; parking according to the initial parking trajectory and the target parking trajectory includes:

[0071] The current gear position of the target vehicle and the gear position required for the first path segment on the target parking trajectory are obtained. If the current gear position is consistent with the gear position required for the first path segment, the target parking trajectory is connected to the initial parking trajectory at the trajectory starting point, and parking is performed according to the connected trajectory. If the current gear position is inconsistent with the gear position required for the first path segment, the target vehicle is controlled to travel to the trajectory starting point, stop, and switch gear to the gear position required for the first path segment to continue driving.

[0072] Specifically, the connection between the target parking trajectory and the initial parking trajectory can be as follows: Figure 4As shown, after obtaining the re-planned target parking trajectory, the gear position on the first section of the target parking trajectory can be compared with the current gear position. If the gear positions of the two are consistent, the target parking trajectory and the initial parking trajectory can be connected at the starting point of the trajectory. During the connection process, the two trajectories should be merged using a smooth connection method. If the gear positions of the two are inconsistent, the vehicle can be parked and shifted at the starting point of the trajectory, and then switched to the target parking trajectory after the shift. At the same time, when the vehicle is about to reach the starting point of the trajectory, it should brake slowly and then shift gears to ensure a good experience environment.

[0073] This embodiment utilizes different gear positions to adopt different methods to connect parking trajectories, allowing parking to be adjusted in real time according to different parking environments and vehicle conditions, achieving strong adaptability and flexibility. In addition, smooth connection and slow braking are adopted to ensure that the vehicle always remains in a stable condition, avoiding the discomfort caused by sudden stops and abrupt gear shifts, thereby enhancing the user's parking experience and having strong practical value and market prospects.

[0074] In some embodiments, after parking according to the initial parking trajectory and the target parking trajectory, the method further includes:

[0075] While the target vehicle is traveling along the parking trajectory, obstacles around the target vehicle are continuously detected; if a movable obstacle is detected and the distance between the movable obstacle and the target vehicle is less than a third preset distance, the target vehicle is controlled to decelerate or stop until the distance between the movable obstacle and the target vehicle is greater than the third preset distance.

[0076] Specifically, while the vehicle is moving along the trajectory, the camera or visual sensor carried by the vehicle will be used to continuously detect obstacles around the vehicle. The obstacles can be vehicles, pedestrians, trees, steps, etc. The third preset distance can be 1 meter, 1.5 meters, etc., and movable obstacles can be walking pedestrians, moving vehicles, etc.

[0077] Specifically, for example, the third preset distance can be set to 1 meter. When the target vehicle parks in the parking lot, the vehicle will automatically drive along the parking trajectory. During driving, it will continue to monitor movable obstacles around the vehicle. When a pedestrian is found passing in front, and the distance between the pedestrian and the vehicle is less than 1 meter, that is, less than the third preset distance, the vehicle can be controlled to slow down. The speed can be decelerated to 5 kilometers per hour, 4 kilometers per hour, 3 kilometers per hour, etc. When the distance between the pedestrian and the vehicle is too close, for example, 0.5 meters, the vehicle can be controlled to stop. When the pedestrian leaves the vehicle, that is, the distance between the pedestrian and the vehicle is greater than 1 meter, the vehicle can resume normal driving.

[0078] This embodiment detects movable obstacles around the vehicle and controls the vehicle to slow down or stop when an obstacle is present, allowing the vehicle to avoid the obstacle during parking, avoiding potential safety hazards such as collisions during parking and improving parking safety.

[0079] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0080] All of the above optional technical solutions can be combined in any way to form optional embodiments of the present application, and will not be described in detail here.

[0081] The following are device embodiments of the present application, which can be used to implement the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

[0082] Figure 5 Schematic diagram of a parking device provided in an embodiment of the present application. Figure 5 As shown, the device includes:

[0083] A first acquisition module 501 is used to acquire an initial parking trajectory and an initial parking posture of a target vehicle when parking at a target parking space;

[0084] A second acquisition module 502 is configured to acquire a current parking posture of the target vehicle when the target vehicle is traveling along the initial parking trajectory and the distance between the target vehicle and the target parking space reaches a first preset distance;

[0085] a planning module 503 for determining a starting point for replanning the parking trajectory based on the current position of the target vehicle and the initial parking trajectory, and determining the current parking posture as the target parking posture, if the difference between the initial parking posture and the current parking posture is greater than a preset threshold;

[0086] The parking module 504 is configured to plan a target parking trajectory based on the trajectory starting point and the target parking posture, and perform parking according to the initial parking trajectory and the target parking trajectory.

[0087] In some embodiments, both the initial parking posture and the current parking posture include the parking position coordinates and heading angle; the planning module 503 is specifically used to: if the difference between the position coordinates of the initial parking posture and the position coordinates of the current parking posture is greater than a first preset threshold, then determine that the difference between the initial parking posture and the current parking posture is greater than the preset threshold; or, if the difference between the heading angle of the initial parking posture and the heading angle of the current parking posture is greater than a second preset threshold, then determine that the difference between the initial parking posture and the current parking posture is greater than the preset threshold.

[0088] In some embodiments, the initial parking trajectory includes at least one path segment, wherein adjacent path segments correspond to different gears; the planning module 503 is specifically configured to: determine a reference point for a trajectory starting point based on the current position of the target vehicle and the initial parking trajectory; if the distance between the reference point and the end point of the segment traveled by the target vehicle in the initial parking trajectory is greater than a second preset distance, then determine a point on the untraveled trajectory on the segment traveled by the target vehicle that is the second preset distance away from the reference point as the trajectory starting point; if the distance between the reference point and the end point of the segment traveled by the target vehicle in the initial parking trajectory is less than the second preset distance, then determine the end point of the segment traveled by the target vehicle as the trajectory starting point; wherein the parameters of the trajectory starting point include position coordinates and a heading angle.

[0089] In some embodiments, the planning module 503 is specifically used to: if the current position of the target vehicle is on the initial parking trajectory, determine the current position as a reference point; if the current position of the target vehicle is not on the initial parking trajectory, determine the point on the initial parking trajectory with the smallest distance to the current position as the reference point.

[0090] In some embodiments, the target parking trajectory includes at least one path segment, wherein adjacent path segments correspond to different gears; the parking module 504 is specifically configured to:

[0091] The current gear position of the target vehicle and the gear position required for the first path segment on the target parking trajectory are obtained. If the current gear position is consistent with the gear position required for the first path segment, the target parking trajectory is connected to the initial parking trajectory at the trajectory starting point, and parking is performed according to the connected trajectory. If the current gear position is inconsistent with the gear position required for the first path segment, the target vehicle is controlled to travel to the trajectory starting point, stop, and switch gear to the gear position required for the first path segment to continue driving.

[0092] In some embodiments, the second acquisition module 502 is also used to: control the target vehicle to continue driving along the initial parking trajectory when the difference between the initial parking posture and the current parking posture is less than a preset threshold; wherein, the difference between the initial parking posture and the current parking posture is less than the preset threshold includes: the difference between the position coordinates of the initial parking posture and the position coordinates of the current parking posture is less than or equal to the first preset threshold, and the difference between the heading angle of the initial parking posture and the heading angle of the current parking posture is less than or equal to the second preset threshold.

[0093] In some embodiments, the parking module 504 is further used to: continuously detect obstacles around the target vehicle while the target vehicle is traveling along the parking trajectory; and when a movable obstacle is detected and the distance between the movable obstacle and the target vehicle is less than a third preset distance, control the target vehicle to decelerate or stop until the distance between the movable obstacle and the target vehicle is greater than the third preset distance.

[0094] It should be noted that the device provided in this application can implement all the method steps executed by the above method and can achieve the same technical effects, which will not be repeated here.

[0095] Figure 6 Schematic diagram of the electronic device 6 provided in the embodiment of the present application. Figure 6 As shown, the electronic device 6 of this embodiment includes: a processor 601, a memory 602, and a computer program 603 stored in the memory 602 and executable by the processor 601. When the processor 601 executes the computer program 603, the steps of the above-described method embodiments are implemented. Alternatively, when the processor 601 executes the computer program 603, the functions of the modules / units in the above-described device embodiments are implemented.

[0096] The electronic device 6 may be a desktop computer, a notebook, a PDA, a cloud server or other electronic device. The electronic device 6 may include but is not limited to a processor 601 and a memory 602. It will be understood by those skilled in the art that Figure 6 This is merely an example of the electronic device 6 and does not limit the electronic device 6 . The electronic device 6 may include more or fewer components than shown in the figure, or different components.

[0097] The processor 601 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0098] The memory 602 can be an internal storage unit of the electronic device 6, such as a hard disk or memory of the electronic device 6. The memory 602 can also be an external storage device of the electronic device 6, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash memory card, etc. The memory 602 can also include both an internal storage unit of the electronic device 6 and an external storage device. The memory 602 is used to store computer programs and other programs and data required by the electronic device.

[0099] Those skilled in the art will clearly understand that for the sake of convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0100] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the present application implements all or part of the process in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. The computer program may include computer program code, which may be in source code form, object code form, executable file or some intermediate form. The readable storage medium may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0101] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A parking method, characterized in that: include: Obtaining the initial parking trajectory and initial parking posture of the target vehicle when parking at the target parking space; When the target vehicle travels along the initial parking trajectory and the distance between the target vehicle and the target parking space reaches a first preset distance, obtaining a current parking posture of the target vehicle; If the difference between the initial parking posture and the current parking posture is greater than a preset threshold, determining a trajectory starting point for replanning the parking trajectory based on the current position of the target vehicle and the initial parking trajectory, and determining the current parking posture as a target parking posture; Planning a target parking trajectory based on the trajectory starting point and the target parking posture, and parking the vehicle according to the initial parking trajectory and the target parking trajectory; The initial parking trajectory includes at least one path segment, wherein adjacent path segments correspond to different gear positions; and determining a starting point of a replanned parking trajectory based on the current position of the target vehicle and the initial parking trajectory includes: Determining a reference point of a starting point of the trajectory based on the current position of the target vehicle and the initial parking trajectory; If the distance between the reference point and the end point of the section of the initial parking trajectory on which the target vehicle is traveling is greater than a second preset distance, a point on the untraveled trajectory on the section of the road on which the target vehicle is traveling that is the second preset distance away from the reference point is determined as the starting point of the trajectory; If the distance between the reference point and the end point of the section traveled by the target vehicle in the initial parking trajectory is less than the second preset distance, the end point of the section traveled by the target vehicle is determined as the trajectory starting point; The parameters of the trajectory starting point include position coordinates and heading angle.

2. The method according to claim 1, characterized in that The initial parking posture and the current parking posture both include parking position coordinates and heading angles; The difference between the initial parking posture and the current parking posture is greater than a preset threshold, including: If the difference between the position coordinates of the initial parking posture and the position coordinates of the current parking posture is greater than a first preset threshold, then determining that the difference between the initial parking posture and the current parking posture is greater than the preset threshold; or, If the difference between the heading angle of the initial parking posture and the heading angle of the current parking posture is greater than a second preset threshold, it is determined that the difference between the initial parking posture and the current parking posture is greater than the preset threshold.

3. The method according to claim 1, characterized in that Determining a reference point of a starting point of the trajectory based on the current position of the target vehicle and the initial parking trajectory includes: If the current position of the target vehicle is on the initial parking trajectory, determining the current position as the reference point; If the current position of the target vehicle is not on the initial parking trajectory, a point on the initial parking trajectory with the smallest distance from the current position is determined as the reference point.

4. The method according to claim 1, wherein The target parking trajectory includes at least one path segment, wherein adjacent path segments correspond to different gears; and parking according to the initial parking trajectory and the target parking trajectory includes: Obtaining the current gear position of the target vehicle and the required gear position of the first path segment on the target parking trajectory; When the current gear position is consistent with the required gear position of the first path segment, connecting the target parking trajectory with the initial parking trajectory at the trajectory starting point, and parking according to the connected trajectory; When the current gear is inconsistent with the gear required for the first path segment, the target vehicle is controlled to travel to the starting point of the trajectory and then stop, and the gear is switched to the gear required for the first path segment for travel.

5. The method according to claim 2, characterized in that After obtaining the current parking posture of the target vehicle, the method further includes: When the difference between the initial parking posture and the current parking posture is less than a preset threshold, controlling the target vehicle to continue traveling along the initial parking trajectory; Among them, the difference between the initial parking posture and the current parking posture is less than a preset threshold includes: the difference between the position coordinates of the initial parking posture and the position coordinates of the current parking posture is less than or equal to the first preset threshold, and the difference between the heading angle of the initial parking posture and the heading angle of the current parking posture is less than or equal to the second preset threshold.

6. The method according to claim 1, characterized in that After parking according to the initial parking trajectory and the target parking trajectory, the method further includes: Continuously detecting obstacles around the target vehicle while the target vehicle is traveling along the parking trajectory; When a movable obstacle is detected and the distance between the movable obstacle and the target vehicle is less than a third preset distance, the target vehicle is controlled to decelerate or stop until the distance between the movable obstacle and the target vehicle is greater than the third preset distance.

7. A parking device, characterized in that: include: A first acquisition module is used to acquire an initial parking trajectory and an initial parking posture of a target vehicle when parking at a target parking space; a second acquisition module, configured to acquire a current parking posture of the target vehicle when the target vehicle travels along the initial parking trajectory and the distance between the target vehicle and the target parking space reaches a first preset distance; a planning module, configured to, if a difference between the initial parking posture and the current parking posture is greater than a preset threshold, determine a starting point for replanning a parking trajectory based on the current position of the target vehicle and the initial parking trajectory, and determine the current parking posture as a target parking posture; a parking module, configured to plan a target parking trajectory based on the trajectory starting point and the target parking posture, and perform parking according to the initial parking trajectory and the target parking trajectory; The initial parking trajectory includes at least one path segment, wherein adjacent path segments correspond to different gear positions. The planning module is specifically configured to: determine a reference point as a starting point of the trajectory based on the current position of the target vehicle and the initial parking trajectory; if a distance between the reference point and an end point of the segment traveled by the target vehicle in the initial parking trajectory is greater than a second preset distance, determine a point on the untraveled trajectory of the segment traveled by the target vehicle that is the second preset distance away from the reference point as the starting point of the trajectory; If the distance between the reference point and the end point of the section traveled by the target vehicle in the initial parking trajectory is less than the second preset distance, the end point of the section traveled by the target vehicle is determined as the trajectory starting point; wherein the parameters of the trajectory starting point include position coordinates and heading angle.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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