An automatic parking control method, device and computing equipment

Abstract

Embodiments of the present application disclose an automatic parking control method and device and a computing device. The method comprises: acquiring first position information of a position where a vehicle is located, a vehicle inclination angle, second position information of a target empty parking space, and direction information; judging whether the vehicle is inclined relative to the target empty parking space based on the vehicle inclination angle and the direction information of the target empty parking space; if the vehicle is not inclined relative to the target empty parking space, determining a lateral movement distance and a lateral movement direction of the vehicle according to the first position information and the second position information; and controlling the vehicle to move laterally into the target empty parking space based on the lateral movement distance and the lateral movement direction, which helps to improve the efficiency of automatic parking.

Description

Technical Field

[0001] This application relates to the field of automatic parking control technology, and in particular to an automatic parking control method, device and computing equipment. Background Technology

[0002] With social development and the advancement of modern technology, vehicles have become an important means of transportation in people's lives, and intelligent parking assistance systems are becoming increasingly mature. However, most vehicles with parking assistance systems on the market currently rely on geometric methods for path planning due to limitations in their drive systems. For example, the vehicle moves a long distance from its initial position, then moves backward and requests a turn before reversing into the final position. This method results in long parking times and a poor user experience. Therefore, better control of automatic parking is crucial. Summary of the Invention

[0003] This application provides an automatic parking control method, apparatus, and computing device, which can improve the efficiency of automatic parking.

[0004] In a first aspect, embodiments of this application provide an automatic parking control method, including:

[0005] Obtain the first location information of the vehicle and the vehicle tilt angle, as well as the second location information and direction information of the target empty parking space;

[0006] Based on the vehicle tilt angle and the direction information of the target empty parking space, it is determined whether the vehicle is tilted relative to the target empty parking space;

[0007] If the vehicle is not tilted relative to the target empty parking space, then the lateral movement distance and lateral movement direction of the vehicle are determined based on the first position information and the second position information.

[0008] Based on the lateral movement distance and the lateral movement direction, the vehicle is controlled to move laterally to the target empty parking space.

[0009] Secondly, embodiments of this application provide an automatic parking control device, comprising:

[0010] The acquisition unit is used to acquire the first position information of the vehicle's location and the vehicle's tilt angle, as well as the second position information and direction information of the target empty parking space;

[0011] The judgment unit is used to determine whether the vehicle is tilted relative to the target empty parking space based on the vehicle tilt angle and the direction information of the target empty parking space;

[0012] The determining unit is configured to determine the lateral movement distance and lateral movement direction of the vehicle based on the first position information and the second position information if the vehicle is not tilted relative to the target empty parking space.

[0013] The control unit is used to control the vehicle to move laterally to the target empty parking space based on the lateral movement distance and the lateral movement direction.

[0014] Thirdly, embodiments of this application provide a computing device, the computing device comprising: a processor and a memory, the processor being configured to execute the method described in the first aspect above.

[0015] Fourthly, embodiments of this application provide a vehicle, the vehicle including a car body and an automatic parking control device, the automatic parking control device being used to execute the method described in the first aspect to control the automatic parking of the vehicle.

[0016] Fifthly, embodiments of this application provide a computer-readable storage medium storing program instructions that, when executed, implement the method described in the first aspect above.

[0017] This application embodiment can obtain first position information of the vehicle's location and vehicle tilt angle, as well as second position information and direction information of the target empty parking space; based on the vehicle tilt angle and the direction information of the target empty parking space, it can determine whether the vehicle is tilted relative to the target empty parking space; if the vehicle is not tilted relative to the target empty parking space, it can determine the lateral movement distance and lateral movement direction of the vehicle based on the first and second position information; based on the lateral movement distance and lateral movement direction, it can control the vehicle to move laterally into the target empty parking space, thereby helping to improve the efficiency of automatic parking. Attached Figure Description

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

[0019] Figure 1 This is a schematic diagram of the structure of an automatic parking control system provided in an embodiment of this application;

[0020] Figure 2 This is a flowchart illustrating an automatic parking control method provided in an embodiment of this application;

[0021] Figure 3This is a schematic diagram showing the orientation of a vehicle and a target empty parking space, provided in an embodiment of this application.

[0022] Figure 4 This is another schematic diagram showing the orientation of a vehicle and a target empty parking space provided in an embodiment of this application;

[0023] Figure 5 This is another schematic diagram showing the orientation of a vehicle and a target empty parking space provided in an embodiment of this application;

[0024] Figure 6 This is a schematic diagram of an automatic parking system based on lateral movement, provided in an embodiment of this application.

[0025] Figure 7 This is a flowchart illustrating another automatic parking control method provided in an embodiment of this application;

[0026] Figure 8 This is another schematic diagram showing the orientation of a vehicle and a target empty parking space provided in an embodiment of this application;

[0027] Figure 9 This is another schematic diagram showing the orientation of a vehicle and a target empty parking space provided in an embodiment of this application;

[0028] Figure 10 This is a flowchart illustrating another automatic parking control method provided in an embodiment of this application;

[0029] Figure 11 This is another schematic diagram showing the orientation of a vehicle and a target empty parking space provided in an embodiment of this application;

[0030] Figure 12 This is a flowchart illustrating another automatic parking control method provided in an embodiment of this application;

[0031] Figure 13 This is another schematic diagram showing the orientation of a vehicle and a target empty parking space provided in an embodiment of this application;

[0032] Figure 14 This is a schematic diagram of the structure of an automatic parking control device provided in an embodiment of this application;

[0033] Figure 15 This is a schematic diagram of the structure of a computing device provided in an embodiment of this application. Detailed Implementation

[0034] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0035] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0036] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0037] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0038] In specific implementations, the computing devices described in the embodiments of this application include, but are not limited to, other portable devices such as mobile phones, laptop computers, or tablet computers with touch surfaces (e.g., touchscreen displays and / or touchpads). It should also be understood that in some embodiments, the device is not a portable communication device, but a desktop computer with a touch surface (e.g., touchscreen displays and / or touchpads).

[0039] This application provides an automatic parking control method, apparatus, and computing device. The automatic parking control method can be applied to an automatic parking control device, which can be housed in a parking controller, and the parking controller can be housed in a computing device. In some embodiments, the computing device may include, but is not limited to, a terminal device or server that communicates with the vehicle. The computing device may also be a device installed on the vehicle, independent of the vehicle, or it may be a component of the vehicle. In some embodiments, the vehicle is equipped with Mecanum wheels to allow the individual wheels of the vehicle to rotate, thereby enabling lateral movement and rotation of the vehicle. The automatic parking control method provided in this application can be applied to automatic parking scenarios for vehicles.

[0040] An automatic parking control method provided in this application can acquire first position information and vehicle tilt angle of the vehicle, as well as second position information and direction information of the target empty parking space; based on the vehicle tilt angle and the direction information of the target empty parking space, determine whether the vehicle is tilted relative to the target empty parking space; if the vehicle is not tilted relative to the target empty parking space, determine the lateral movement distance and lateral movement direction of the vehicle based on the first position information and the second position information; based on the lateral movement distance and lateral movement direction, control the vehicle to move laterally to the target empty parking space.

[0041] Please see Figure 1 , Figure 1 This is a schematic diagram of an automatic parking control system provided in an embodiment of this application. The automatic parking control system includes a computing device 101 and a vehicle 102, which are communicatively connected. The vehicle 102 can acquire vehicle data such as its first position information and tilt angle, and send the acquired vehicle data to the computing device 101. The computing device 101 can control the vehicle to park automatically based on the vehicle data. In some embodiments, the computing device 101 can be a server or a terminal device.

[0042] In one embodiment, the computing device 101 can acquire first position information and vehicle tilt angle of the vehicle's current location, as well as second position information and direction information of the target empty parking space; based on the vehicle tilt angle and the direction information of the target empty parking space, determine whether the vehicle is tilted relative to the target empty parking space; if the vehicle is not tilted relative to the target empty parking space, determine the lateral movement distance and lateral movement direction of the vehicle based on the first and second position information; based on the lateral movement distance and lateral movement direction, control the vehicle to move laterally to the target empty parking space.

[0043] Please see Figure 2 , Figure 2 This is a flowchart illustrating an automatic parking control method provided in an embodiment of this application, as shown below. Figure 2 The automatic parking control method shown in this embodiment can be applied to an automatic parking control device, which is located in a computing device. The method may include at least the following steps.

[0044] S201: Obtain the first location information of the vehicle and the vehicle tilt angle, as well as the second location information and direction information of the target empty parking space.

[0045] In this embodiment, the computing device can obtain first location information of the vehicle's current location and the vehicle's tilt angle, as well as second location information and direction information of the target empty parking space. In some embodiments, the first location information of the vehicle's current location and the second location information of the target empty parking space can be obtained from the vehicle's positioning device, such as a Global Positioning System (GPS).

[0046] The computing device can establish a coordinate system using the vehicle's horizontal and vertical centerlines as coordinate axes to determine the coordinates of the vehicle's four corner points. Based on these coordinates, the vehicle's length and width can be determined. In one embodiment, the computing device can calculate the vehicle's tilt angle based on the coordinates of its four corner points, where the tilt angle is the angle of inclination of the vehicle relative to the horizontal plane.

[0047] The computing device can acquire at least one available parking space found by the vehicle using ultrasonic radar and visual sensors, select a target parking space from the at least one available space, obtain the coordinates of the four corner points of the target parking space, and determine the length, width, and orientation information of the target parking space based on the coordinates of the four corner points. In some embodiments, the orientation information of the target parking space can be determined based on the direction in which the length of the target parking space is located, such as determining the orientation of the target parking space based on the direction in which the length of the target parking space is located. Determining the orientation information of the target parking space helps in determining the direction in which the vehicle will park.

[0048] by Figure 3 For example, Figure 3 This is a schematic diagram illustrating the location of a vehicle relative to a target empty parking space, as provided in an embodiment of this application. Figure 3 As shown, a coordinate system 32 is established with the horizontal and vertical centerlines of vehicle 31 as coordinate axes. Based on the coordinate system 32, points A1(X1,Y1), B1(X1,Y1), C1(X1,Y1), and D1(X1,Y1) are determined as the coordinates of the four corner points of vehicle 31, namely the left front, left rear, right front, and right rear, respectively. The calculation device can calculate the tilt angle α of vehicle 31 based on the coordinates of the four corner points A1(X1,Y1), B1(X1,Y1), C1(X1,Y1), and D1(X1,Y1). The computing device can use sensors to obtain the coordinates of the four corner points P(X,Y), Q(X,Y), M(X,Y), N(X,Y) of the target empty parking space 33, and determine the direction PM of the length of the target empty parking space based on the coordinates of the four corner points P(X,Y), Q(X,Y), M(X,Y), N(X,Y) of the target empty parking space 33.

[0049] S202: Based on the vehicle tilt angle and the direction information of the target empty parking space, determine whether the vehicle is tilted relative to the target empty parking space.

[0050] In this embodiment of the application, the computing device can determine whether the vehicle is tilted relative to the target empty parking space based on the vehicle tilt angle and the direction information of the target empty parking space.

[0051] In one embodiment, when the computing device determines whether the vehicle is tilted relative to the target empty parking space based on the vehicle tilt angle and the direction information of the target empty parking space, it can determine the tilt angle of the vehicle relative to the target empty parking space according to the coordinates of the four corner points of the vehicle and the four corner points of the target empty parking space. If the tilt angle of the vehicle relative to the target empty parking space is greater than 0, it is determined that the vehicle is tilted relative to the target empty parking space. If the tilt angle of the vehicle relative to the target empty parking space is equal to 0, it is determined that the vehicle is not tilted relative to the target empty parking space.

[0052] Specifically, it can be... Figure 4 For example, Figure 4 This is another locational diagram of a vehicle and a target empty parking space provided in an embodiment of this application, such as... Figure 4 As shown, the tilt angle of vehicle 41 relative to the target empty parking space 42 is the angle between A1D1 and NQ.

[0053] In some embodiments, when the target vacant parking space is parallel to the horizontal plane, the vehicle's tilt angle relative to the target vacant parking space is the same as the vehicle's tilt angle. Figure 3 For example, the angle formed by line A1D1 and line QN is the tilt angle of the vehicle relative to the target empty parking space.

[0054] S203: If the vehicle is not tilted relative to the target empty parking space, then determine the lateral movement distance and lateral movement direction of the vehicle based on the first position information and the second position information.

[0055] In this embodiment of the application, if the vehicle is not tilted relative to the target empty parking space, the computing device can determine the lateral movement distance and lateral movement direction of the vehicle based on the first position information and the second position information.

[0056] In one embodiment, if the vehicle is not tilted relative to the target empty parking space, the vehicle and the target empty parking space are parallel, the front of the vehicle does not exceed the first boundary line of the target empty parking space, and the rear of the vehicle does not exceed the second boundary line of the target empty parking space, then the lateral movement distance and lateral movement direction of the vehicle are determined based on the first position information and the second position information.

[0057] Specifically, it can be... Figure 5 Let's take an example to illustrate. Figure 5 This is another locational diagram of a vehicle and a target vacant parking space provided in an embodiment of this application, such as... Figure 5As shown, the vehicle 51 is not tilted relative to the target empty parking space 52, the orientations of the vehicle 51 and the target empty parking space 52 are parallel, the front of the vehicle 511 does not extend beyond the first parking space boundary line 521 of the target empty parking space, and the rear of the vehicle 512 does not extend beyond the second parking space boundary line 522 of the target empty parking space 52. The computing device can determine the lateral movement distance of the vehicle as h1 and the lateral movement direction as moving to the left side of the vehicle 51 (i.e., in the direction of the target empty parking space) based on the first position information of the vehicle 51 and the second position information of the target empty parking space 52.

[0058] S204: Based on the lateral movement distance and the lateral movement direction, control the vehicle to move laterally into the target empty parking space.

[0059] In the embodiments of the present application, the computing device can control the vehicle to move laterally into the target empty parking space based on the lateral movement distance and the lateral movement direction.

[0060] In one embodiment, the ways for the computing device to control the vehicle to move laterally include: controlling the left front wheel and the right rear wheel of the vehicle to rotate forward, and controlling the left rear wheel and the right front wheel of the vehicle to rotate backward to control the vehicle to move leftward in parallel; controlling the left front wheel and the right rear wheel of the vehicle to rotate backward, and controlling the left rear wheel and the right front wheel of the vehicle to rotate forward to control the vehicle to move rightward in parallel.

[0061] In some embodiments, after the vehicle moves into the target empty parking space, the distance d between the front line of the vehicle or the parking space line and the parking space boundary line corresponding to the target empty parking space is greater than 0 and less than the difference between the parking space length and the vehicle length, that is, 0 < d < parking space length - vehicle length. That is, after moving into the target empty parking space, the vehicle will not press the line (i.e., press the parking space boundary line of the target empty parking space).

[0062] Specifically, it can Figure 5 be taken as an example for illustration. The computing device can control the left front wheel and the right rear wheel of the vehicle 51 to rotate forward based on the determined lateral movement distance of the vehicle, and control the left rear wheel and the right front wheel of the vehicle 51 to rotate backward to control the vehicle 51 to move leftward in parallel into the target empty parking space 52. After the vehicle 51 moves leftward in parallel into the target empty parking space 52, the distance between the front line A1B1 of the vehicle and the first parking space boundary line 521 of the target empty parking space 52 is greater than 0 and less than the difference between the parking space length and the vehicle length.

[0063] In one embodiment, the computing device can determine the lateral movement distance and direction of each wheel of the vehicle according to the lateral movement distance of the vehicle. Among them, the lateral movement distance and direction of each wheel can be determined according to the four corner point coordinates of the vehicle. Taking Figure 6 as an example, Figure 6 is a schematic diagram of automatic parking based on lateral movement provided by the embodiments of the present application. As Figure 6As shown, assuming the coordinates of the four corner points of the vehicle before lateral movement are A1(X1,Y1), B1(X1,Y1), C1(X1,Y1), D1(X1,Y1), and the coordinates of the four corner points after lateral movement are A2(X2,Y2), B2(X2,Y2), C2(X2,Y2), D2(X2,Y2), then the computing device can calculate A1(X1,Y1), B1(X1,Y1), C1(X1,Y1), D1(X1,Y1) based on the coordinates of the four corner points after lateral movement. 1,Y1)-A2(X2,Y2), B1(X1,Y1)-B2(X2,Y2), C1(X1,Y1)-C2(X2,Y2), D1(X1,Y1)-D2(X2,Y2). The lateral movement distance of each wheel is determined based on the absolute value of each calculation result, and the lateral movement direction of each wheel is determined based on the sign of each calculation result, where a positive sign indicates movement to the right and a negative sign indicates movement to the left.

[0064] This application embodiment obtains first position information of the vehicle's location and vehicle tilt angle, as well as second position information and direction information of the target empty parking space; based on the vehicle tilt angle and the direction information of the target empty parking space, it determines whether the vehicle is tilted relative to the target empty parking space; if the vehicle is not tilted relative to the target empty parking space, the vehicle and the target empty parking space are parallel, the front of the vehicle does not exceed the first boundary line of the target empty parking space, and the rear of the vehicle does not exceed the second boundary line of the target empty parking space, then based on the first position information and the second position information, it determines the lateral movement distance and lateral movement direction of the vehicle; based on the lateral movement distance and lateral movement direction, it controls the vehicle to move laterally into the target empty parking space, which helps to improve the efficiency of automatic parking.

[0065] Please see Figure 7 , Figure 7 This is a flowchart illustrating another automatic parking control method provided in an embodiment of this application, as shown below. Figure 7 The automatic parking control method shown in this embodiment can be applied to an automatic parking control device, which is located in a computing device. The method may include at least the following steps.

[0066] S701: Obtain the first location information of the vehicle and the vehicle tilt angle, as well as the second location information and direction information of the target empty parking space.

[0067] S702: Based on the vehicle tilt angle and the direction information of the target empty parking space, determine whether the vehicle is tilted relative to the target empty parking space.

[0068] S703: If the vehicle is not tilted relative to the target empty parking space, and either side of the vehicle exceeds the corresponding parking space boundary line of the target empty parking space, then the lateral movement distance, lateral movement direction, longitudinal movement distance, and longitudinal movement direction of the vehicle are determined based on the first position information and the second position information.

[0069] In this embodiment of the application, if the vehicle is not tilted relative to the target empty parking space and any side of the vehicle exceeds the corresponding parking space boundary line of the target empty parking space, the computing device can determine the lateral movement distance, lateral movement direction, longitudinal movement distance and longitudinal movement direction of the vehicle based on the first position information and the second position information. Here, any side refers to any side of the vehicle body, the front of the vehicle or the rear of the vehicle.

[0070] In one embodiment, if the vehicle is not tilted relative to the target empty parking space, the vehicle and the target empty parking space are parallel, and the front or rear of the vehicle exceeds the corresponding parking space boundary line of the target empty parking space, then the lateral movement distance, lateral movement direction, longitudinal movement distance, and longitudinal movement direction of the vehicle are determined based on the first position information and the second position information.

[0071] Specifically, it can be... Figure 8 Let's take an example to illustrate. Figure 8 This is another locational diagram of a vehicle and a target vacant parking space provided in an embodiment of this application, such as... Figure 8 As shown, vehicle 81 is not tilted relative to the target empty parking space 82, vehicle 81 and the target empty parking space 82 are parallel, and the front of vehicle 81 811 extends beyond the parking space boundary line 821 of the target empty parking space 82. The computing device can determine the lateral movement distance of vehicle 81 as h2, the lateral movement direction as moving to the left of the vehicle (i.e. moving towards the target empty parking space), the longitudinal movement distance as d1 (i.e., the distance between the front of the vehicle and the boundary line 821 of the target empty parking space) and the longitudinal movement direction as moving to the rear of the vehicle based on the first position information of vehicle 81 and the second position information of the target empty parking space 82.

[0072] In one embodiment, if the vehicle is not tilted relative to the target empty parking space, and the vehicle body, front, and rear all exceed the corresponding parking space boundary line of the target empty parking space, then the lateral movement distance and longitudinal movement distance of the vehicle are determined based on the first position information and the second position information.

[0073] Specifically, it can be... Figure 9 Let's take an example to illustrate. Figure 9 This is another locational diagram of a vehicle and a target vacant parking space provided in an embodiment of this application, such as... Figure 9 As shown, vehicle 91 is not tilted relative to the target empty parking space 92. The body, front and rear of vehicle 91 all exceed the corresponding parking space boundary line of the target empty parking space 92. The calculation device can determine the lateral movement distance of vehicle 91 as h3, the lateral movement direction as moving to the left of the vehicle, the longitudinal movement distance as d2, and the longitudinal movement direction as moving to the rear of the vehicle based on the first position information of vehicle 91 and the second position information of the target empty parking space 92.

[0074] S704: Controls the lateral movement of the vehicle based on the lateral movement distance and lateral movement direction, and controls the longitudinal movement of the vehicle based on the longitudinal movement distance and longitudinal movement direction, until the vehicle moves into the target empty parking space.

[0075] In this embodiment, the computing device can control the lateral movement of the vehicle based on the lateral movement distance and direction, and control the longitudinal movement of the vehicle based on the longitudinal movement distance and direction, until the vehicle moves into the target empty parking space. In some embodiments, this application does not specifically limit the order of controlling the lateral and longitudinal movements of the vehicle.

[0076] In one embodiment, the computing device can determine the order of controlling the lateral and longitudinal movements of the vehicle based on environmental information. In one example, if an obstacle is detected near the target empty parking space, the order of controlling the lateral and longitudinal movements of the vehicle can be determined based on the location of the obstacle.

[0077] by Figure 8 For example, the computing device can control the vehicle to move laterally to the left of the vehicle based on the lateral movement distance h2, and control the vehicle to move longitudinally to the rear of the vehicle based on the longitudinal movement distance d1, until the vehicle 81 moves into the target empty parking space 82.

[0078] And with Figure 9 For example, the computing device can control the vehicle to move laterally to the left of the vehicle based on the lateral movement distance h3, and control the vehicle to move longitudinally to the rear of the vehicle based on the longitudinal movement distance d2, until the vehicle 91 moves into the target empty parking space 92.

[0079] This application embodiment determines the lateral movement distance, lateral movement direction, longitudinal movement distance, and longitudinal movement direction of the vehicle based on first and second position information when it is determined that the vehicle is not tilted relative to the target empty parking space, the vehicle and the target empty parking space are parallel, and the front or rear of the vehicle exceeds the corresponding boundary line of the target empty parking space. It then controls the lateral movement of the vehicle based on the lateral movement distance and the lateral movement direction, and controls the longitudinal movement of the vehicle based on the longitudinal movement distance and the longitudinal movement direction, until the vehicle moves into the target empty parking space. This achieves automatic parking of the vehicle into the target empty parking space based on lateral and longitudinal movement control, which helps to improve the efficiency of automatic parking.

[0080] Please see Figure 10 , Figure 10 This is a flowchart illustrating another automatic parking control method provided in an embodiment of this application, as shown below. Figure 10 The automatic parking control method shown in this embodiment can be applied to an automatic parking control device, which is located in a computing device. The method may include at least the following steps.

[0081] S1001: Obtain the first location information of the vehicle and the vehicle tilt angle, as well as the second location information and direction information of the target empty parking space.

[0082] S1002: Based on the vehicle tilt angle and the direction information of the target empty parking space, determine whether the vehicle is tilted relative to the target empty parking space.

[0083] S1003: If the vehicle is tilted relative to the target empty parking space, and the distance between the vehicle's center of mass and the center point of the target empty parking space is less than a preset distance threshold, then the vehicle's rotation angle and rotation direction are determined based on the vehicle's tilt angle and the direction information of the target empty parking space.

[0084] In this embodiment, if the vehicle is tilted relative to the target empty parking space, and the distance between the vehicle's center of mass and the center point of the target empty parking space is less than a preset distance threshold, the vehicle's rotation angle and rotation direction are determined based on the vehicle's tilt angle and the direction information of the target empty parking space. In some embodiments, the vehicle's center of mass refers to the vehicle's center of mass, the position of which is determined at the factory. In some embodiments, when the distance between the vehicle's center of mass and the center point of the target empty parking space is less than the preset distance threshold, it can be ensured that the vehicle stops within the target empty parking space after rotating around its center of mass. In some embodiments, the center point of the target empty parking space is the exact center of the target empty parking space. In some embodiments, the vehicle's rotation direction can be clockwise or counterclockwise.

[0085] Specifically, it can be... Figure 11 For example, Figure 11 This is another locational diagram of a vehicle and a target vacant parking space provided in an embodiment of this application, such as... Figure 11 As shown, vehicle 1101 is tilted relative to target empty parking space 1102, and the distance between the center of mass 11011 of vehicle 1101 and the center point 11021 of target empty parking space 1102 is less than a preset distance threshold. The calculation device can determine the rotation angle of vehicle 1101 as β1 and the rotation direction as counterclockwise based on the tilt angle of vehicle 1101 and the direction information of target empty parking space 1102.

[0086] S1004: Based on the rotation angle and rotation direction, control the vehicle to rotate to the target empty parking space.

[0087] In one embodiment, the computing device controls the rotation of the vehicle by controlling the left and right wheels of the vehicle to rotate in different directions with the vehicle's center of mass as the origin, thereby controlling the vehicle's rotation.

[0088] by Figure 11For example, the computing device can control the left and right wheels of vehicle 1101 to rotate in different directions based on the rotation angle and rotation direction, with the center of mass 11011 of vehicle 1101 as the origin, so as to control vehicle 1101 to rotate counterclockwise by an angle β1 to the target empty parking space 1102.

[0089] This application embodiment achieves automatic parking based on rotation control when the vehicle is tilted relative to the target empty parking space and the distance between the vehicle's center of mass and the center point of the target empty parking space is less than a preset distance threshold. It determines the vehicle's rotation angle and rotation direction based on the vehicle's tilt angle and the direction information of the target empty parking space, and controls the vehicle to rotate into the target empty parking space based on the rotation angle and rotation direction. This helps to improve the efficiency of automatic parking.

[0090] Please see Figure 12 , Figure 12 This is a flowchart illustrating another automatic parking control method provided in an embodiment of this application, as shown below. Figure 12 The automatic parking control method shown in this embodiment can be applied to an automatic parking control device, which is located in a computing device. The method may include at least the following steps.

[0091] S1201: Obtain the first location information of the vehicle and the vehicle tilt angle, as well as the second location information and direction information of the target empty parking space.

[0092] S1202: Based on the vehicle tilt angle and the direction information of the target empty parking space, determine whether the vehicle is tilted relative to the target empty parking space.

[0093] S1203: If the vehicle is tilted relative to the target empty parking space, and the distance between the vehicle's center of gravity and the center point of the target empty parking space is greater than or equal to a preset distance threshold, then the vehicle's rotation angle and rotation direction are determined based on the vehicle's tilt angle and the direction information of the target empty parking space, and the vehicle's lateral movement distance and lateral movement direction are determined based on the first position information and the second position information.

[0094] In this embodiment, if the vehicle is tilted relative to the target empty parking space, and the distance between the vehicle's center of mass and the center point of the target empty parking space is greater than or equal to a preset distance threshold, the computing device can determine the vehicle's rotation angle and rotation direction based on the vehicle's tilt angle and the direction information of the target empty parking space, and determine the vehicle's lateral movement distance and lateral movement direction based on the first position information and the second position information. In some embodiments, when the distance between the vehicle's center of mass and the center point of the target empty parking space is greater than or equal to the preset distance threshold, the vehicle may overlap or intersect the boundary lines of the target empty parking space after rotation, i.e., the vehicle may cross the lines after rotation.

[0095] Specifically, it can be... Figure 13 For example, Figure 13 This is another locational diagram of a vehicle and a target vacant parking space provided in an embodiment of this application, such as... Figure 13 As shown, vehicle 1301 is tilted relative to target empty parking space 1302, and the distance between the center of mass 13011 of vehicle 1301 and the center point 13021 of target empty parking space 1302 is greater than or equal to a preset distance threshold. The calculation device can determine the rotation angle β2 of vehicle 1301 and the rotation direction as counterclockwise based on the tilt angle of vehicle 1301 and the direction information of target empty parking space 1302. It can also determine the lateral movement distance of vehicle 1301 as h3 and the lateral movement direction as moving to the right of vehicle based on the first position information of vehicle 1301 and the second position information of target empty parking space 1302.

[0096] S1204: Control the vehicle rotation based on the rotation angle and rotation direction, and control the vehicle lateral movement based on the lateral movement distance and lateral movement direction, until the vehicle is parked in the target empty parking space.

[0097] In this embodiment of the application, the computing device can control the vehicle rotation based on the rotation angle and rotation direction, and control the vehicle lateral movement based on the lateral movement distance and lateral movement direction, until the vehicle is parked in the target empty parking space.

[0098] In one embodiment, the computing device can determine the order of controlling the lateral movement and rotation of the vehicle based on environmental information. In one example, if an obstacle is detected near the target empty parking space, the order of controlling the lateral movement and rotation of the vehicle can be determined based on the location of the obstacle.

[0099] by Figure 13 For example, the computing device can control the vehicle 1301 to rotate counterclockwise based on the rotation angle β2, and control the vehicle 1301 to move laterally to the right based on the lateral movement distance h3, until the vehicle 1301 is parked in the target empty parking space 1302.

[0100] This application embodiment achieves automatic parking based on rotation and lateral movement control when the vehicle is tilted relative to the target empty parking space and the distance between the vehicle's center of mass and the center point of the target empty parking space is greater than or equal to a preset distance threshold. It determines the vehicle's rotation angle and rotation direction based on the vehicle's tilt angle and the direction information of the target empty parking space, and determines the vehicle's lateral movement distance and lateral movement direction based on the first position information and the second position information. This helps to improve the efficiency of automatic parking.

[0101] See Figure 14 , Figure 14 This is a schematic diagram of the structure of an automatic parking control device provided in an embodiment of this application, as shown below. Figure 14As shown, the automatic parking control device includes an acquisition unit 1401, a judgment unit 1402, a determination unit 1403, and a control unit 1404, wherein,

[0102] The acquisition unit 1401 is used to acquire the first position information of the vehicle's location and the vehicle's tilt angle, as well as the second position information and direction information of the target empty parking space;

[0103] The judgment unit 1402 is used to determine whether the vehicle is tilted relative to the target empty parking space based on the vehicle tilt angle and the direction information of the target empty parking space;

[0104] The determining unit 1403 is used to determine the lateral movement distance and lateral movement direction of the vehicle based on the first position information and the second position information if the vehicle is not tilted relative to the target empty parking space.

[0105] Control unit 1404 is used to control the vehicle to move laterally to the target empty parking space based on the lateral movement distance and the lateral movement direction.

[0106] Furthermore, the determining unit 1403 is also used for:

[0107] If the vehicle is not tilted relative to the target empty parking space, the vehicle and the target empty parking space are parallel, the front of the vehicle does not exceed the first boundary line of the target empty parking space, and the rear of the vehicle does not exceed the second boundary line of the target empty parking space, then the step of determining the lateral movement distance and lateral movement direction of the vehicle based on the first position information and the second position information is triggered.

[0108] Furthermore, the determining unit 1403 is also used for:

[0109] If the vehicle is not tilted relative to the target empty parking space, and any side of the vehicle exceeds the corresponding parking space boundary line of the target empty parking space, then the lateral movement distance, lateral movement direction, longitudinal movement distance, and longitudinal movement direction of the vehicle are determined according to the first position information and the second position information, wherein any side refers to any side of the vehicle body, the front of the vehicle, or the rear of the vehicle.

[0110] The vehicle is controlled to move laterally based on the lateral movement distance and the lateral movement direction, and the vehicle is controlled to move longitudinally based on the longitudinal movement distance and the longitudinal movement direction, until the vehicle moves into the target empty parking space.

[0111] Furthermore, the determining unit 1403 is also used for:

[0112] If the vehicle is tilted relative to the target empty parking space, and the distance between the center of mass of the vehicle and the center point of the target empty parking space is less than a preset distance threshold, then the rotation angle and rotation direction of the vehicle are determined based on the vehicle tilt angle and the direction information of the target empty parking space.

[0113] Based on the rotation angle and the rotation direction, the vehicle is controlled to rotate into the target empty parking space.

[0114] Furthermore, the determining unit 1403 is also used for:

[0115] If the vehicle is tilted relative to the target empty parking space, and the distance between the center of mass of the vehicle and the center point of the target empty parking space is greater than or equal to a preset distance threshold, then the rotation angle and rotation direction of the vehicle are determined according to the tilt angle of the vehicle and the direction information of the target empty parking space, and the lateral movement distance and lateral movement direction of the vehicle are determined according to the first position information and the second position information.

[0116] The vehicle is rotated based on the rotation angle and the rotation direction, and the vehicle is moved laterally based on the lateral movement distance and the lateral movement direction until the vehicle is parked in the target empty parking space.

[0117] Furthermore, when controlling the lateral movement of the vehicle, the control unit 1404 is specifically used for:

[0118] Control the left front wheel and right rear wheel of the vehicle to turn forward, and control the left rear wheel and right front wheel of the vehicle to turn backward, so as to control the vehicle to move horizontally to the left;

[0119] Control the left front wheel and right rear wheel of the vehicle to turn backward, and control the left rear wheel and right front wheel of the vehicle to turn forward, so as to control the vehicle to move parallel to the right.

[0120] Furthermore, when controlling the rotation of the vehicle, the control unit 1404 is specifically used for:

[0121] With the vehicle's center of gravity as the origin, the left and right wheels of the vehicle are controlled to rotate in different directions to control the vehicle's rotation.

[0122] In this embodiment, the automatic parking control device can acquire first position information and vehicle tilt angle of the vehicle, as well as second position information and direction information of the target empty parking space; based on the vehicle tilt angle and the direction information of the target empty parking space, it determines whether the vehicle is tilted relative to the target empty parking space; if the vehicle is not tilted relative to the target empty parking space, it determines the lateral movement distance and lateral movement direction of the vehicle based on the first and second position information; based on the lateral movement distance and lateral movement direction, it controls the vehicle to move laterally into the target empty parking space, thereby helping to improve the efficiency of automatic parking.

[0123] See Figure 15 , Figure 15 This is a schematic diagram of the structure of a computing device provided in an embodiment of this application. As shown in the figure, the computing device in this embodiment may include: one or more processors 1501, a memory 1502, a bus 1503, and a communication interface 1504. The processor 1501, communication interface 1504, and memory 1502 are connected via the bus 1503. The memory 1502 is used to store programs. The processor 1501 is used to call the program stored in the memory via the bus 1503 to execute the following steps:

[0124] Obtain the first location information of the vehicle and the vehicle tilt angle, as well as the second location information and direction information of the target empty parking space;

[0125] Based on the vehicle tilt angle and the direction information of the target empty parking space, it is determined whether the vehicle is tilted relative to the target empty parking space;

[0126] If the vehicle is not tilted relative to the target empty parking space, then the lateral movement distance and lateral movement direction of the vehicle are determined based on the first position information and the second position information.

[0127] Based on the lateral movement distance and the lateral movement direction, the vehicle is controlled to move laterally to the target empty parking space.

[0128] Furthermore, the processor 1501 is also used for:

[0129] If the vehicle is not tilted relative to the target empty parking space, the vehicle and the target empty parking space are parallel, the front of the vehicle does not exceed the first boundary line of the target empty parking space, and the rear of the vehicle does not exceed the second boundary line of the target empty parking space, then the step of determining the lateral movement distance and lateral movement direction of the vehicle based on the first position information and the second position information is triggered.

[0130] Furthermore, the processor 1501 is also used for:

[0131] If the vehicle is not tilted relative to the target empty parking space, and any side of the vehicle exceeds the corresponding parking space boundary line of the target empty parking space, then the lateral movement distance, lateral movement direction, longitudinal movement distance, and longitudinal movement direction of the vehicle are determined according to the first position information and the second position information, wherein any side refers to any side of the vehicle body, the front of the vehicle, or the rear of the vehicle.

[0132] The vehicle is controlled to move laterally based on the lateral movement distance and the lateral movement direction, and the vehicle is controlled to move longitudinally based on the longitudinal movement distance and the longitudinal movement direction, until the vehicle moves into the target empty parking space.

[0133] Furthermore, the processor 1501 is also used for:

[0134] If the vehicle is tilted relative to the target empty parking space, and the distance between the center of mass of the vehicle and the center point of the target empty parking space is less than a preset distance threshold, then the rotation angle and rotation direction of the vehicle are determined based on the vehicle tilt angle and the direction information of the target empty parking space.

[0135] Based on the rotation angle and the rotation direction, the vehicle is controlled to rotate into the target empty parking space.

[0136] Furthermore, the processor 1501 is also used for:

[0137] If the vehicle is tilted relative to the target empty parking space, and the distance between the center of mass of the vehicle and the center point of the target empty parking space is greater than or equal to a preset distance threshold, then the rotation angle and rotation direction of the vehicle are determined according to the tilt angle of the vehicle and the direction information of the target empty parking space, and the lateral movement distance and lateral movement direction of the vehicle are determined according to the first position information and the second position information.

[0138] The vehicle is rotated based on the rotation angle and the rotation direction, and the vehicle is moved laterally based on the lateral movement distance and the lateral movement direction until the vehicle is parked in the target empty parking space.

[0139] Furthermore, when controlling the lateral movement of the vehicle, the processor 1501 is specifically used for:

[0140] Control the left front wheel and right rear wheel of the vehicle to turn forward, and control the left rear wheel and right front wheel of the vehicle to turn backward, so as to control the vehicle to move horizontally to the left;

[0141] Control the left front wheel and right rear wheel of the vehicle to turn backward, and control the left rear wheel and right front wheel of the vehicle to turn forward, so as to control the vehicle to move parallel to the right.

[0142] Furthermore, when controlling the rotation of the vehicle, the processor 1501 is specifically used for:

[0143] With the vehicle's center of gravity as the origin, the left and right wheels of the vehicle are controlled to rotate in different directions to control the vehicle's rotation.

[0144] In this embodiment, the computing device can acquire first position information and vehicle tilt angle of the vehicle's current location, as well as second position information and direction information of the target empty parking space; based on the vehicle tilt angle and the direction information of the target empty parking space, it determines whether the vehicle is tilted relative to the target empty parking space; if the vehicle is not tilted relative to the target empty parking space, it determines the lateral movement distance and lateral movement direction of the vehicle based on the first and second position information; based on the lateral movement distance and lateral movement direction, it controls the vehicle to move laterally into the target empty parking space, thereby helping to improve the efficiency of automatic parking.

[0145] It should be understood that, in the embodiments of this application, the processor 1501 may be a Central Processing Unit (CPU), but it may also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0146] The memory 1502 may include read-only memory and random access memory, and provides instructions and data to the processor 1501. A portion of the memory 1502 may also include non-volatile random access memory. For example, the memory 1502 may also store device type information.

[0147] In specific implementations, the processor 1501 described in this application embodiment can execute the implementation method of the automatic parking control method provided in this application embodiment, or it can execute the implementation method of the automatic parking control device described in this application embodiment, which will not be repeated here.

[0148] This application also provides a vehicle, which includes a vehicle body and an automatic parking control device, the automatic parking control device being used to perform... Figure 2 , Figure 7 , Figure 10Any of the methods described herein can control the vehicle to park automatically.

[0149] This application also provides a computer-readable storage medium storing program instructions that, when executed, implement... Figure 2 , Figure 7 , Figure 10 Any one of the methods described.

[0150] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this application.

[0151] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the terminals and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0152] In the several embodiments provided in this application, it should be understood that the disclosed computing devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices or units, or may be electrical, mechanical or other forms of connection.

[0153] The steps in the method of this application embodiment can be adjusted, combined, or deleted according to actual needs.

[0154] The units in the terminal of this application embodiment can be merged, divided, and deleted according to actual needs.

[0155] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments of this application, depending on actual needs.

[0156] Furthermore, the functional units in the various embodiments of this application 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 integrated unit can be implemented in hardware or as a software functional unit.

[0157] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0158] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An automatic parking control method characterized by, The method comprises: obtaining first position information of a location where the vehicle is located and a vehicle inclination angle, and second position information and direction information of a target empty parking space; judging whether the vehicle is inclined relative to the target empty parking space based on the vehicle inclination angle and the direction information of the target empty parking space; if the vehicle is not inclined relative to the target empty parking space, determining a lateral movement distance and a lateral movement direction of the vehicle according to the first position information and the second position information; controlling the vehicle to move laterally into the target empty parking space based on the lateral movement distance and the lateral movement direction; The method further comprises: if the vehicle is inclined relative to the target empty parking space and the distance between the center of mass of the vehicle and the center point of the target empty parking space is greater than or equal to a preset distance threshold, determining a rotation angle and a rotation direction of the vehicle according to the vehicle inclination angle and the direction information of the target empty parking space, and determining a lateral movement distance and a lateral movement direction of the vehicle according to the first position information and the second position information; determining the sequence of controlling the vehicle to move laterally and rotate based on environmental information, wherein the environmental information comprises position information of obstacles; controlling the vehicle to rotate based on the rotation angle and the rotation direction, and controlling the vehicle to move laterally based on the lateral movement distance and the lateral movement direction according to the determined sequence of controlling the vehicle to move laterally and rotate, until the vehicle is parked in the target empty parking space.

2. The method of claim 1, wherein, The method further comprises: if the vehicle is not inclined relative to the target empty parking space, the positions of the vehicle and the target empty parking space are parallel, the front of the vehicle does not exceed the first parking boundary line of the target empty parking space, and the rear of the vehicle does not exceed the second parking boundary line of the target empty parking space, triggering the step of determining the lateral movement distance and the lateral movement direction of the vehicle according to the first position information and the second position information.

3. The method of claim 1, wherein, The method further comprises: if the vehicle is not inclined relative to the target empty parking space and any side of the vehicle exceeds the corresponding parking boundary line of the target empty parking space, determining the lateral movement distance, the lateral movement direction, the longitudinal movement distance and the longitudinal movement direction of the vehicle according to the first position information and the second position information, wherein the any side refers to any side of the vehicle body, the front or the rear of the vehicle; controlling the vehicle to move laterally based on the lateral movement distance and the lateral movement direction, and controlling the vehicle to move longitudinally based on the longitudinal movement distance and the longitudinal movement direction, until the vehicle moves into the target empty parking space.

4. The method of claim 1, wherein, The method further comprises: if the vehicle is inclined relative to the target empty parking space and the distance between the center of mass of the vehicle and the center point of the target empty parking space is less than a preset distance threshold, determining a rotation angle and a rotation direction of the vehicle according to the vehicle inclination angle and the direction information of the target empty parking space; controlling the vehicle to rotate into the target empty parking space based on the rotation angle and the rotation direction.

5. The method according to any one of claims 1 to 3, characterized in that, Controlling the vehicle to move laterally includes: controlling the left front wheel and the right rear wheel of the vehicle to rotate forward, and controlling the left rear wheel and the right front wheel of the vehicle to rotate backward, so as to control the vehicle to move leftward in parallel; controlling the left front wheel and the right rear wheel of the vehicle to rotate backward, and controlling the left rear wheel and the right front wheel of the vehicle to rotate forward, so as to control the vehicle to move rightward in parallel.

6. The method according to claim 1 or 4, characterized in that, Controlling the vehicle to rotate includes: controlling the left wheel and the right wheel of the vehicle to rotate in different directions with the center of mass of the vehicle as the origin, so as to control the vehicle to rotate.

7. An automatic parking control device, characterized by comprising: The device includes: an acquisition unit configured to acquire first position information of a location where a vehicle is located, an inclination angle of the vehicle, second position information of a target empty parking space, and direction information of the target empty parking space; a judgment unit configured to judge whether the vehicle is inclined relative to the target empty parking space based on the inclination angle of the vehicle and the direction information of the target empty parking space; a determination unit configured to determine a lateral movement distance and a lateral movement direction of the vehicle according to the first position information and the second position information if the vehicle is not inclined relative to the target empty parking space; a control unit configured to control the vehicle to move laterally into the target empty parking space based on the lateral movement distance and the lateral movement direction. The control unit is further configured to determine a rotation angle and a rotation direction of the vehicle according to the inclination angle of the vehicle and the direction information of the target empty parking space, and determine the lateral movement distance and the lateral movement direction of the vehicle according to the first position information and the second position information if the vehicle is inclined relative to the target empty parking space and the distance between the center of mass of the vehicle and the center point of the target empty parking space is greater than or equal to a preset distance threshold value; determine the order of controlling the vehicle to move laterally and rotate based on environmental information, the environmental information including position information of an obstacle; control the vehicle to rotate based on the rotation angle and the rotation direction, and control the vehicle to move laterally based on the lateral movement distance and the lateral movement direction according to the determined order of controlling the vehicle to move laterally and rotate, until the vehicle is parked into the target empty parking space.

8. A computing device, comprising: The vehicle includes a car body and an automatic parking control device, and the automatic parking control device is configured to execute the method of any one of claims 1-6 to control the vehicle to automatically park.

9. A vehicle characterized by comprising: The computer readable storage medium stores program instructions, and the program instructions are executed to implement the method of any one of claims 1-6.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores program instructions, and the program instructions are executed to implement the method of any one of claims 1-6.

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